Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube
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 t...
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doaj-091bf50173fd4a47a8d55dab2f3e98542020-12-22T00:06:05ZengMDPI AGApplied Sciences2076-34172020-12-01109153915310.3390/app10249153Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma CubeMuhammad Umair Ahmad Khan0Abid Imran1Sanghwa Kim2Hyunho Hwang3Ji Yeong Lee4Sungon Lee5Byung-Ju Yi6Department of Mechatronics Engineering, Hanyang University, Ansan 15588, KoreaFaculty of Mechanical Engineering, GIK Institute of Engineering Sciences and Technology, Swabi 23640, PakistanDepartment of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, KoreaDepartment of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, KoreaDepartment of Robotics Engineering, Hanyang University, Ansan 15588, KoreaDepartment of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, KoreaDepartment of Electronic and Electrical Engineering, Hanyang University, Ansan 15588, KoreaThis 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.https://www.mdpi.com/2076-3417/10/24/9153dynamic and quasi-static manipulationobject singulationclutter environment |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Muhammad Umair Ahmad Khan Abid Imran Sanghwa Kim Hyunho Hwang Ji Yeong Lee Sungon Lee Byung-Ju Yi |
spellingShingle |
Muhammad Umair Ahmad Khan Abid Imran Sanghwa Kim Hyunho Hwang Ji Yeong Lee Sungon Lee Byung-Ju Yi Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube Applied Sciences dynamic and quasi-static manipulation object singulation clutter environment |
author_facet |
Muhammad Umair Ahmad Khan Abid Imran Sanghwa Kim Hyunho Hwang Ji Yeong Lee Sungon Lee Byung-Ju Yi |
author_sort |
Muhammad Umair Ahmad Khan |
title |
Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube |
title_short |
Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube |
title_full |
Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube |
title_fullStr |
Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube |
title_full_unstemmed |
Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube |
title_sort |
scattering or pushing for object singulation in cluttered environment: case study with soma cube |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2020-12-01 |
description |
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. |
topic |
dynamic and quasi-static manipulation object singulation clutter environment |
url |
https://www.mdpi.com/2076-3417/10/24/9153 |
work_keys_str_mv |
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