Geometric eccentricity and the complexity of manipulation plans
type: Item
instance of: scholarly article
title: Geometric eccentricity and the complexity of manipulation plans
zbMATH Open document ID: 0997.93070
author: Mark H. Overmars
author: A. Frank van der Stappen
author: Ken Goldberg
published in: Algorithmica
publication date: 2002-08-05T00:00:00Z
review text: Considering the number of push and push-squeeze gripper actions needed to orient a planar part without sensors, new upper bounds are given for the number of actions required to orient parts without sensors. Based on the notion of ``geometric eccentricity'', the intuitive description of parts as ``fat'' or ``thin'' is formalized, and it is shown that a constant number of actions is required for many parts. The present analysis can be applied also to curved parts. Furthermore, new upper bounds are obtained for the number of fences required for part feeders that use fences and conveyor belts.
reviewed by: Kurt Marti
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68Q25
Mathematics Subject Classification ID: 68T40
Mathematics Subject Classification ID: 70B15
zbMATH DE Number: 1439709
zbMATH Keywords: planar object orientation
zbMATH Keywords: compuational complexity
zbMATH Keywords: geometric eccentricity
zbMATH Keywords: gripper actions
zbMATH Keywords: fences
zbMATH Keywords: conveyor belts
MaRDI profile type: Publication
full work available at URL: s004539910022
OpenAlex ID: W2147176667
DOI: 10.1007/S004539910022
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description: scientific article; zbMATH DE number 1439709