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3D elastic deformable object model for robot manipulation purposes

This paper presents a mass-spring model applied to the manipulation of an elastic deformable object for home service robot application. A system is also proposed that is used to fold a piece of rectangular cloth from a specific initial condition using a robot. The cloth is modeled as a three-dimensi...

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Main Authors: Sahari K.S.M., Hou Y.C.
Other Authors: 57218170038
Format: Article
Published: Fuji Technology Press 2023
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spelling my.uniten.dspace-221492023-05-16T10:47:50Z 3D elastic deformable object model for robot manipulation purposes Sahari K.S.M. Hou Y.C. 57218170038 37067465000 This paper presents a mass-spring model applied to the manipulation of an elastic deformable object for home service robot application. A system is also proposed that is used to fold a piece of rectangular cloth from a specific initial condition using a robot. The cloth is modeled as a three-dimensional object in a two-dimensional quadrangular mesh based on a massspring system, and its state is estimated using an explicit integration scheme that computes the particle position as a function of the internal and external forces acting on the elastic deformable object. The current state of the elastic deformable object under robot manipulation is tracked based on the trajectory of the mass points in the mass-spring system model in a self-developed simulator, which integrates a massspring model and a five-degree-of-freedom articulated robotic arm. To test the reliability of the model, the simulator is used to predict the best possible paths for using the robotic arm to fold a rectangular cloth into two. In the test, the state of the object is derived from the model and then compared with the results of a practical experiment. Based on the test, the error is found to be generally acceptable. Thus, this model can be used as an estimator for the vision-based tracking of the state of an elastic deformable object for manipulation by home service robots. Final 2023-05-16T02:47:50Z 2023-05-16T02:47:50Z 2014 Article 10.20965/jaciii.2014.p0375 2-s2.0-84901046635 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84901046635&doi=10.20965%2fjaciii.2014.p0375&partnerID=40&md5=fd5623dc9e9dfe5a1e6c2b5edc03116d https://irepository.uniten.edu.my/handle/123456789/22149 18 3 375 382 All Open Access, Gold Fuji Technology Press Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description This paper presents a mass-spring model applied to the manipulation of an elastic deformable object for home service robot application. A system is also proposed that is used to fold a piece of rectangular cloth from a specific initial condition using a robot. The cloth is modeled as a three-dimensional object in a two-dimensional quadrangular mesh based on a massspring system, and its state is estimated using an explicit integration scheme that computes the particle position as a function of the internal and external forces acting on the elastic deformable object. The current state of the elastic deformable object under robot manipulation is tracked based on the trajectory of the mass points in the mass-spring system model in a self-developed simulator, which integrates a massspring model and a five-degree-of-freedom articulated robotic arm. To test the reliability of the model, the simulator is used to predict the best possible paths for using the robotic arm to fold a rectangular cloth into two. In the test, the state of the object is derived from the model and then compared with the results of a practical experiment. Based on the test, the error is found to be generally acceptable. Thus, this model can be used as an estimator for the vision-based tracking of the state of an elastic deformable object for manipulation by home service robots.
author2 57218170038
author_facet 57218170038
Sahari K.S.M.
Hou Y.C.
format Article
author Sahari K.S.M.
Hou Y.C.
spellingShingle Sahari K.S.M.
Hou Y.C.
3D elastic deformable object model for robot manipulation purposes
author_sort Sahari K.S.M.
title 3D elastic deformable object model for robot manipulation purposes
title_short 3D elastic deformable object model for robot manipulation purposes
title_full 3D elastic deformable object model for robot manipulation purposes
title_fullStr 3D elastic deformable object model for robot manipulation purposes
title_full_unstemmed 3D elastic deformable object model for robot manipulation purposes
title_sort 3d elastic deformable object model for robot manipulation purposes
publisher Fuji Technology Press
publishDate 2023
_version_ 1806428355267919872
score 13.222552

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