Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서일홍 | - |
dc.date.accessioned | 2020-08-25T08:08:14Z | - |
dc.date.available | 2020-08-25T08:08:14Z | - |
dc.date.issued | 2019-09 | - |
dc.identifier.citation | APPLIED SCIENCES-BASEL, v. 9, no. 17, article no. 3536 | en_US |
dc.identifier.issn | 2076-3417 | - |
dc.identifier.uri | https://www.mdpi.com/2076-3417/9/17/3536 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/152535 | - |
dc.description.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. | en_US |
dc.description.sponsorship | This research was funded by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (grant number 20001856, Development of Robotic Work Control Technology Capable of Grasping and Manipulating Various Objects in Everyday Life Environment Based on Multimodal Recognition and Using Tools) funded By the Ministry of Trade, Industry and Energy (MOTIE, Korea), by the Ministry of Trade, Industry and Energy (MI, Korea), and performed by the ICT-based Medical Robotic Systems Team of Hanyang University, Department of Electronic Systems Engineering was supported by the BK21 Plus Program funded by National Research Foundation of Korea (NRF). The APC was funded by grant number 20001856. | en_US |
dc.language.iso | en | en_US |
dc.publisher | MDPI | en_US |
dc.subject | object singulation | en_US |
dc.subject | clutter environment | en_US |
dc.subject | dynamic estimation | en_US |
dc.subject | impact mechanics | en_US |
dc.subject | physics engine | en_US |
dc.subject | dynamic manipulation | en_US |
dc.title | Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties | en_US |
dc.type | Article | en_US |
dc.relation.no | 17 | - |
dc.relation.volume | 9 | - |
dc.identifier.doi | 10.3390/app9173536 | - |
dc.relation.page | 1-19 | - |
dc.relation.journal | APPLIED SCIENCES-BASEL | - |
dc.contributor.googleauthor | Imran, Abid | - |
dc.contributor.googleauthor | Kim, Sang-Hwa | - |
dc.contributor.googleauthor | Park, Young-Bin | - |
dc.contributor.googleauthor | Suh, Il Hong | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.relation.code | 2019038379 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF ELECTRONIC ENGINEERING | - |
dc.identifier.pid | ihsuh | - |
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