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Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube

Title
Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube
Author
이지영
Keywords
dynamic and quasi-static manipulation; object singulation; clutter environment
Issue Date
2020-12
Publisher
MDPI
Citation
APPLIED SCIENCES-BASEL, v. 10, no. 24, Article no. 9153, 20pp
Abstract
Featured Application Robotic grasping and manipulation. This paper proposes a hybrid singulation approach combining dynamic scattering and pushing techniques. Using the impulse-based dynamic model, a guideline is provided to decide whether scattering or pushing is conducted for object singulation. The Soma cube consisting of seven blocks is used as the test example. The target is to singulate all the blocks. The dynamic scattering technique was initially applied to separate blocks in the formation. However, scattering alone does not provide target singulation in all the cases. So we combine the quasi-static pushing technique to complete the singulation of all the blocks. In pushing, image segmentation based on principal component analysis (PCA) algorithm was employed to singulate multiple blocks in clutter and prehensile manipulation was used to remove isolated blocks. Several 2-D formations of the Soma cube are used as the test cases. To validate the effectiveness of our approach, we have conducted comparative analysis which clearly shows that the hybrid singulation achieves singulation in much less time as compared to the pure pushing approach.
URI
https://www.mdpi.com/2076-3417/10/24/9153https://repository.hanyang.ac.kr/handle/20.500.11754/164936
ISSN
2076-3417
DOI
10.3390/app10249153
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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