{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:23Z","timestamp":1777715723279,"version":"3.51.4"},"reference-count":38,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[2000,12,1]],"date-time":"2000-12-01T00:00:00Z","timestamp":975628800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,12]]},"abstract":"<jats:p>Parts manufactured to tolerances have variations in shape. Most previous work in                 robotic manipulation assumes that parts do not have shape variations. Orienting                 devices such as bowl feeders often fail due to variations in part shape. We study                 the effects of uncertainty in part shape on orienting to develop systems that can                 orient toleranced polygonal parts. We present a tolerance model in which the part                 center of mass and vertices lie in circular uncertainty zones around their nominal                 positions. The variations in part shape are characterized by the tolerance model and                 the part\u2019s nominal shape. We describe the nondeterminism that arises due                 to part shape uncertainty for a conveyor-based orienting system and show that                 sensor-based and sensorless orienting plans can exist for toleranced polygonal                 parts. We present implemented planners that generate orienting plans for the entire                 variational class of part shapes given a nominal part shape and tolerance bounds.                 These plans use both deterministic and nondeterministic actions to orient the parts,                 and we describe experiments to demonstrate them.<\/jats:p>","DOI":"10.1177\/02783640022068002","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1147-1170","source":"Crossref","is-referenced-by-count":23,"title":["Orienting Toleranced Polygonal Parts"],"prefix":"10.1177","volume":"19","author":[{"given":"Srinivas","family":"Akella","sequence":"first","affiliation":[{"name":"Department of Computer Science, Rensselaer Polytechnic Institute, Troy,                         New York 12180, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew T.","family":"Mason","sequence":"additional","affiliation":[{"name":"School of Computer Science, Carnegie Mellon University, Pittsburgh,                         Pennsylvania 15213, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,12]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"Akella S. 1996 (December). 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