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...
Main Authors: | Muhammad Umair Ahmad Khan, Abid Imran, Sanghwa Kim, Hyunho Hwang, Ji Yeong Lee, Sungon Lee, Byung-Ju Yi |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2020-12-01
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Series: | Applied Sciences |
Subjects: | |
Online Access: | https://www.mdpi.com/2076-3417/10/24/9153 |
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