<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>5</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Moll, Mark</style></author><author><style face="normal" font="default" size="100%">Erdmann, M A</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Manipulation of Pose Distributions</style></title><secondary-title><style face="normal" font="default" size="100%">Algorithmic and Computational Robotics: New Directions</style></secondary-title></titles><keywords><keyword><style  face="normal" font="default" size="100%">dynamic simulation</style></keyword><keyword><style  face="normal" font="default" size="100%">parts orienting</style></keyword><keyword><style  face="normal" font="default" size="100%">pose distributions</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2001</style></year></dates><urls><web-urls><url><style face="normal" font="default" size="100%">http://www.akpeters.com/book.asp?bID=139</style></url></web-urls></urls><publisher><style face="normal" font="default" size="100%">A. K. Peters</style></publisher><pages><style face="normal" font="default" size="100%">127--141</style></pages><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">For assembly tasks parts often have to be oriented before
		  they can be put in an assembly. The results presented in
		  this paper are a component of the automated design of parts
		  orienting devices. The focus is on orienting parts with
		  minimal sensing and manipulation. We present a new approach
		  to parts orienting through the manipulation of pose
		  distributions. Through dynamic simulation we can determine
		  the pose distribution for an object being dropped from an
		  arbitrary height on an arbitrary surface. By varying the
		  drop height and the shape of the support surface we can
		  find the initial conditions that will result in a pose
		  distribution with minimal entropy. We are trying to
		  uniquely orient a part with high probability just by
		  varying the initial conditions. We will derive a condition
		  on the pose and velocity of an object in contact with a
		  sloped surface that will allow us to quickly determine the
		  final resting configuration of the object. This condition
		  can then be used to quickly compute the pose distribution.
		  We also present simulation and experimental results that
		  show how dynamic simulation can be used to find optimal
		  shapes and drop heights for a given part.</style></abstract><work-type><style face="normal" font="default" size="100%">incollection</style></work-type></record></records></xml>