Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties
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. How...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/17/3536 |
| _version_ | 1819025508476649472 |
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| author | Abid Imran Sang-Hwa Kim Young-Bin Park Il Hong Suh Byung-Ju Yi |
| author_facet | Abid Imran Sang-Hwa Kim Young-Bin Park Il Hong Suh Byung-Ju Yi |
| author_sort | Abid Imran |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-21T05:11:48Z |
| format | Article |
| id | doaj.art-5a8d99871f234b398d3e6086dcf36456 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-21T05:11:48Z |
| publishDate | 2019-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-5a8d99871f234b398d3e6086dcf364562022-12-21T19:15:02ZengMDPI AGApplied Sciences2076-34172019-08-01917353610.3390/app9173536app9173536Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical PropertiesAbid Imran0Sang-Hwa Kim1Young-Bin Park2Il Hong Suh3Byung-Ju Yi4Department of Electronic Systems Engineering, Hanyang University, Ansan 15588, KoreaDepartment of The Division of Electrical Engineering, Hanyang University, Ansan 15588, KoreaDepartment of Electronics and Computer Engineering, Hanyang University, Seoul 04763, KoreaDepartment of Electronics and Computer Engineering, Hanyang University, Seoul 04763, KoreaDepartment of Electronic Systems Engineering, Hanyang University, Ansan 15588, KoreaThis 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.https://www.mdpi.com/2076-3417/9/17/3536object singulationclutter environmentdynamic estimationimpact mechanicsphysics enginedynamic manipulation |
| spellingShingle | Abid Imran Sang-Hwa Kim Young-Bin Park Il Hong Suh Byung-Ju Yi Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties Applied Sciences object singulation clutter environment dynamic estimation impact mechanics physics engine dynamic manipulation |
| title | Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties |
| title_full | Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties |
| title_fullStr | Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties |
| title_full_unstemmed | Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties |
| title_short | Singulation of Objects in Cluttered Environment Using Dynamic Estimation of Physical Properties |
| title_sort | singulation of objects in cluttered environment using dynamic estimation of physical properties |
| topic | object singulation clutter environment dynamic estimation impact mechanics physics engine dynamic manipulation |
| url | https://www.mdpi.com/2076-3417/9/17/3536 |
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