Category: CMUTR
Institution: Department of Computer Science, Carnegie
        Mellon University
Abstract: This thesis addresses the problem of producing reliable 
        solutions to manipulation tasks.
        Such tasks are strongly influenced by the task geometry, 
        mechanics, and uncertainty.
        This thesis addresses these issues by applying the techniques of
        classical mechanics, and extends these techniques to include 
        task geometry and uncertainty.
        In particular, the thesis addresses manipulation tasks that 
        involve two rigid polygonal objects interacting in a plane; 
        examples include linear pushing, compliant motion, and placing-
        by-dropping tasks.
        
        For this class of tasks, the thesis defines a collection of 
        generic algorithms that analyze the kinematic, static, dynamic,
        and motion-specification aspects of a given task.
        These algorithms identify a continuous bounded set of actions
        that will reliably achieve the task goal, despite uncertainty
        in every physical parameter except object shape.
        The algorithms perform a kinematic analysis to construct the set
        of reachable (x, y, theta ) task configurations, astatic 
        analysis to
        identify the configurations where equilibrium is possible, a 
        dynamic analysis to identify a set of initial configurations 
        that converge to the goal, and a coordinate transformation to 
        identify a set of commanded motions that will achieve the goal.
        
        The kinematic and static analysis algorithms have been fully 
        implemented, and the dynamic analysis algorithms have been 
        partially implemented.
        These programs were used to synthesize linear pushing actions, 
        to analyze a part interacting will an orienting fixture, and to
        synthesize placing-by-dropping actions.
        A series of physical experiments were performed to test the 
        validity of the programs' physical predictions; no failures were
        observed in these experiments, some of which included over 1200 
        trials.
        
        This thesis represents a step toward the application of 
        classical mechanics to general manipulation problems; many open
        problems remain.
        The thesis presents a discussion of possible extensions of this
        work to enhance its generality, as well as discussion of task do
        mains that appear to require a completely different approach.
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
        
Number: CMU-CS-91-149
Bibtype: TechReport
Month: jan
Author: Randy C. Brost
Title: Analysis and Planning of Planar Manipulation Tasks
Year: 1991
Address: Pittsburgh, PA
Super: @CMUTR