Pose statistics for eccentric parts

F. Panahi; Aviv Adler; A.F. van der Stappen

doi:10.1109/CoASE.2015.7294141

Pose statistics for eccentric parts

F. Panahi, Aviv Adler, A.F. van der Stappen

MIT Computer Science and Artificial Intelligence Laboratory (CSAIL)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

In many contexts, it is very useful to have an estimate of the final orientation, or pose, of an object which is dropped onto a flat surface. In this paper, we consider the final orientation of an object which starts with a random orientation, and show how the shape of the object relates to the distribution of its final orientation. We define a notion of geometric eccentricity for d-dimensional objects, which takes into account both its shape and its center-of-mass. We show that under quasi-static conditions, the pose into which eccentric objects settle will be with high probability in a cluster of poses which are very close together. Furthermore, the probability of ending up in this range of poses increases, and the size of the range decreases, as the object gets more eccentric.

Original language	English
Title of host publication	Proc. of the IEEE Conference on Automation Science and Engineering
Publisher	IEEE
Pages	580-585
Number of pages	6
DOIs	https://doi.org/10.1109/CoASE.2015.7294141
Publication status	Published - Aug 2015

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10.1109/CoASE.2015.7294141

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title = "Pose statistics for eccentric parts",

abstract = "In many contexts, it is very useful to have an estimate of the final orientation, or pose, of an object which is dropped onto a flat surface. In this paper, we consider the final orientation of an object which starts with a random orientation, and show how the shape of the object relates to the distribution of its final orientation. We define a notion of geometric eccentricity for d-dimensional objects, which takes into account both its shape and its center-of-mass. We show that under quasi-static conditions, the pose into which eccentric objects settle will be with high probability in a cluster of poses which are very close together. Furthermore, the probability of ending up in this range of poses increases, and the size of the range decreases, as the object gets more eccentric.",

author = "F. Panahi and Aviv Adler and {van der Stappen}, A.F.",

year = "2015",

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doi = "10.1109/CoASE.2015.7294141",

language = "English",

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AU - Adler, Aviv

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N2 - In many contexts, it is very useful to have an estimate of the final orientation, or pose, of an object which is dropped onto a flat surface. In this paper, we consider the final orientation of an object which starts with a random orientation, and show how the shape of the object relates to the distribution of its final orientation. We define a notion of geometric eccentricity for d-dimensional objects, which takes into account both its shape and its center-of-mass. We show that under quasi-static conditions, the pose into which eccentric objects settle will be with high probability in a cluster of poses which are very close together. Furthermore, the probability of ending up in this range of poses increases, and the size of the range decreases, as the object gets more eccentric.

AB - In many contexts, it is very useful to have an estimate of the final orientation, or pose, of an object which is dropped onto a flat surface. In this paper, we consider the final orientation of an object which starts with a random orientation, and show how the shape of the object relates to the distribution of its final orientation. We define a notion of geometric eccentricity for d-dimensional objects, which takes into account both its shape and its center-of-mass. We show that under quasi-static conditions, the pose into which eccentric objects settle will be with high probability in a cluster of poses which are very close together. Furthermore, the probability of ending up in this range of poses increases, and the size of the range decreases, as the object gets more eccentric.

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DO - 10.1109/CoASE.2015.7294141

M3 - Conference contribution

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BT - Proc. of the IEEE Conference on Automation Science and Engineering

PB - IEEE

ER -

Pose statistics for eccentric parts

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