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dc.contributor.author이지영-
dc.date.accessioned2021-09-07T07:22:26Z-
dc.date.available2021-09-07T07:22:26Z-
dc.date.issued2020-12-
dc.identifier.citationAPPLIED SCIENCES-BASEL, v. 10, no. 24, Article no. 9153, 20ppen_US
dc.identifier.issn2076-3417-
dc.identifier.urihttps://www.mdpi.com/2076-3417/10/24/9153-
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/164936-
dc.description.abstractFeatured 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.en_US
dc.description.sponsorshipThis research was funded by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (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 & Energy (MOTIE, Korea).en_US
dc.language.isoen_USen_US
dc.publisherMDPIen_US
dc.subjectdynamic and quasi-static manipulationen_US
dc.subjectobject singulationen_US
dc.subjectclutter environmenten_US
dc.titleScattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cubeen_US
dc.typeArticleen_US
dc.relation.no24-
dc.relation.volume10-
dc.identifier.doi10.3390/app10249153-
dc.relation.page1-20-
dc.relation.journalAPPLIED SCIENCES-BASEL-
dc.contributor.googleauthorKhan, Muhammad Umair Ahmad-
dc.contributor.googleauthorImran, Abid-
dc.contributor.googleauthorKim, Sanghwa-
dc.contributor.googleauthorHwang, Hyunho-
dc.contributor.googleauthorLee, Ji Yeong-
dc.contributor.googleauthorLee, Sungon-
dc.contributor.googleauthorYi, Byung-Ju-
dc.relation.code2020047168-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDEPARTMENT OF ROBOT ENGINEERING-
dc.identifier.pidjiyeongl-
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COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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