Orienting micro-scale parts with squeeze and roll primitives
Moll, M.; Goldberg, K.; Erdmann, M.A.; Fearing, R.
Robotics and Automation, 2002. Proceedings. ICRA apos;02. IEEE International Conference on
Volume 2, Issue , 2002 Page(s): 1931 - 1936 vol.2
Digital Object Identifier   10.1109/ROBOT.2002.1014823
Summary: Orienting parts that measure only a few micrometers in diameter introduces several challenges that need not be considered at the macro-scale. First, there are several kinds of sticking effects due to Van der Waals forces and static electricity which complicate hand-off motions and release of a part. Second, the degrees of freedom of micromanipulators are limited. The paper proposes a pair of manipulation primitives and a complete algorithm that addresses these challenges. We show that a sequence of these two manipulation primitives can uniquely orient any asymmetric part while maintaining contact without sensing. This allows us to apply the same plan to many (identical) parts simultaneously. For asymmetric parts we can find a plan of length O(n) in O(n) time that orients the part, where n is the number of vertices.

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