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Summary: Srinivas Akella
Beckman Institute for Advanced
Science and Technology
University of Illinois at Urbana-Champaign
Urbana, IL 61801, USA
Matthew T. Mason
Robotics Institute & Computer Science Department
Carnegie Mellon University
Pittsburgh, PA 15213, USA
Using Partial Sensor
Information to
Orient Parts
Abstract
Parts orienting, the process of bringing parts in initially unknown
orientations to a goal orientation, is an important aspect of auto-
mated assembly. The most common industrial orienting systems are
vibratory bowl feeders, which use the shape and mass properties of
parts to orient them. Bowl feeders rely on a sequence of mechanical
operations and typically do not use sensors. In this paper, we de-
scribe the use of partial information sensors along with a sequence
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