Geometric eccentricity and the complexity of manipulation plans (Q1974470)

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.