Abstract
This paper presents a hybrid singulation strategy for fast object singulation in a cluttered environment. Recent techniques related to object singulation in clutter have employed various kinds of pushing techniques and in some cases have also used hitting techniques. However, these techniques have not addressed the issue related to the direction of pushing and hitting which is vital for fast object singulation. Finding the appropriate direction of hitting and pushing helps in singulating objects quickly in a cluttered environment. This paper proposes the desired direction for pushing and hitting, combined with a hybrid strategy, that results in fast object singulation in a cluttered environment. The number of times of pushing and hitting in terms of time is chosen as the measure of performance. We employ multiple circular disks as the test example and carry out diverse experiments to corroborate the usefulness of the proposed object singulation algorithm. This approach is able to singulate objects quickly in complex formations. In this paper, we have combined both pushing and hitting and also proposed the direction of hitting and pushing in order to singulate objects in clutter quickly.
Highlights
Humans pick and place things because humans are blessed with a brain that instantly finds out ways to complete the task
When the robot manipulator collides with circular disk A, circular disk A will
The image contour is defined as the line formed when circular disks contact each other
Summary
Humans pick and place things because humans are blessed with a brain that instantly finds out ways to complete the task. Dogar et al [3] proposed a planning framework based on pushing in order to singulate an object in clutter. This approach helps in grasping objects that are ungraspable otherwise, the problem with this technique is the unnecessary pushing actions that result in the unnecessary displacement of objects. Imran et al [5] suggested an approach that was based on hitting They have used a virtual world simulator that relied on a dynamic model and have estimated all of the physical properties of objects in an environment. Different studies have discussed approaches related to impulse-based techniques between a robot and an environment [6,7].
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