Stability Analysis of Densest Packing of Objects Using Partial Order Representation of Feasible Procedural Sequences

This paper examines the process involved in separately packing goods of several kinds into a container. During such a process, the volume of each kind of good ("block") must be optimized to minimize container size. For this optimization, densest packing procedures can be used to determine the feasibility of packing by a robot. This paper analyzes packing procedures generated automatically using partial order representation of feasible procedures, which determines stable and feasible procedures by considering that process planning affects the stability, contact forces, and torques of the target packing pattern and its transient piles.