Automatic orienting of polyhedra through step devices

We propose an algorithm for sensorless reorientation of 3D convex polyhedral parts through a sequence of step devices. Part is assumed to arrive in an arbitrary orientation and is being translated forward (e.g., on a conveyor belt) at slow speed. After precomputing, our algorithm produces a sequence of O(n) distinct steps, where n is the number of faces in the polyhedral part. As the part passes (drops) through the steps, it successively changes orientation. At the output end, the part will be oriented (for most initial orientations) to a pose such that its center-of-mass is the lowest possible