Summary: Parts Orienting with Shape Uncertainty
Srinivas Akella Matthew T. Mason
Beckman Institute School of Computer Science
University of Illinois, Urbana-Champaign Carnegie Mellon University
Urbana, IL 61801 Pittsburgh, PA 15213
Parts manufactured to tolerances have shape variations.
Most work in robotic manipulation assumes that part shape
does not vary. Orienting devices such as bowl feeders fre-
quently fail due to variations in part shape. In this paper we
develop techniques to orient parts with shape uncertainty.
We present a shape uncertainty model and describe the non-
determinism in parts orienting that arises from shape uncer-
tainty. We characterize a class of parts that can be reliably
oriented with sensor-based and sensorless orienting plans
under shape uncertainty. We present implemented planners
that generate orienting plans for the entire variational class
of part shapes given a nominal part shape and shape un-
certainty bounds. We describe experiments to demonstrate
generated plans and outline issues for future work.