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Article

Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube

1
Department of Mechatronics Engineering, Hanyang University, Ansan 15588, Korea
2
Faculty of Mechanical Engineering, GIK Institute of Engineering Sciences and Technology, Swabi 23640, Pakistan
3
Department of Electrical and Electronic Engineering, Hanyang University, Ansan 15588, Korea
4
Department of Robotics Engineering, Hanyang University, Ansan 15588, Korea
5
Department of Electronic and Electrical Engineering, Hanyang University, Ansan 15588, Korea
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2020, 10(24), 9153; https://doi.org/10.3390/app10249153
Received: 3 December 2020 / Revised: 16 December 2020 / Accepted: 16 December 2020 / Published: 21 December 2020
(This article belongs to the Special Issue Object Recognition, Robotic Grasping and Manipulation)
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. View Full-Text
Keywords: dynamic and quasi-static manipulation; object singulation; clutter environment dynamic and quasi-static manipulation; object singulation; clutter environment
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MDPI and ACS Style

Khan, M.U.A.; Imran, A.; Kim, S.; Hwang, H.; Lee, J.Y.; Lee, S.; Yi, B.-J. Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube. Appl. Sci. 2020, 10, 9153. https://doi.org/10.3390/app10249153

AMA Style

Khan MUA, Imran A, Kim S, Hwang H, Lee JY, Lee S, Yi B-J. Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube. Applied Sciences. 2020; 10(24):9153. https://doi.org/10.3390/app10249153

Chicago/Turabian Style

Khan, Muhammad Umair Ahmad, Abid Imran, Sanghwa Kim, Hyunho Hwang, Ji Yeong Lee, Sungon Lee, and Byung-Ju Yi. 2020. "Scattering or Pushing for Object Singulation in Cluttered Environment: Case Study with Soma Cube" Applied Sciences 10, no. 24: 9153. https://doi.org/10.3390/app10249153

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