Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties
- Title
- Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties
- Author
- 서일홍
- Keywords
- object singulation; clutter environment; dynamic estimation; impact mechanics; physics engine; dynamic manipulation
- Issue Date
- 2019-09
- Publisher
- MDPI
- Citation
- APPLIED SCIENCES-BASEL, v. 9, no. 17, article no. 3536
- Abstract
- This paper presents a scattering-based technique for object singulation in a cluttered environment. An analytical model-based control scattering approach is necessary for controlled object singulation. Controlled scattering implies achieving the desired distances between objects after collision. However, current analytical approaches are limited due to insufficient information of the physical environment properties, such as the coefficient of restitution, coefficient of friction, and masses of objects. In this paper, this limitation is overcome by introducing a technique to learn these parameters from unlabeled videos. For the analytical model, an impulse-based approach is used. A virtual world simulator is designed based on a dynamic model and the estimated physical properties of all objects in the environment. Experiments are performed in a virtual world until the targeted scattering pattern is achieved. The targeted scattering pattern implies that all objects are singulated. Finally, the desired input from the virtual world is fed to the robot manipulator to perform real-world scattering.
- URI
- https://www.mdpi.com/2076-3417/9/17/3536https://repository.hanyang.ac.kr/handle/20.500.11754/152535
- ISSN
- 2076-3417
- DOI
- 10.3390/app9173536
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRONIC ENGINEERING(융합전자공학부) > Articles
- Files in This Item:
- Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties.pdfDownload
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