Abstract
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.
Highlights
Robot grasping is well enough developed for a structured environment [1,2]
The methodologies are developed for object singulation, considering the dynamic manipulations
By extending extending those those methodologies, methodologies, we we propose propose an analytical model based scattering technique for object singulation singulation in in aa controlled controlled manner
Summary
Robot grasping is well enough developed for a structured environment [1,2]. interaction in unstructured environments is quite a tedious task for robots. Impulse model-based methodologies are introduced for the robot and environment interaction applications [17,18,19]. These parameters are used in a dynamic model to learn the physical properties such as mass ratio, coefficient of restitution, coefficient of friction. Applications [17,18,19] By extending those methodologies, we propose an analytical model based scattering technique for object singulation in a controlled manner. To evaluateAthe performance of the proposed scattering methoda overcome by real using a vision-based virtual world simulator is developed to perform and exactness of the estimated physical properties.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have