Category classification of deformable object using hybrid dynamic model for robotic grasping

Yew Cheong Hou, Khairul Salleh Mohamed Sahari, Dickson Neoh Tze How, Leong Yeng Weng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work studies the problem of classification of a hung garment in the unfolding procedure by a home service robot. The sheer number of unpredictable configurations that the deformable object can end up in makes the visual identification of the object shape and size difficult. In this paper, we propose a hybrid dynamic model to recognize the pose of hung garment using a single manipulator. A dataset of hung garment is generated by capturing the depth images of real garments at the robotic platform (real images) and also the images of garment mesh model from offline simulation (synthetic images) respectively. Deep convolutional neural network is implemented to classify the category and estimate the pose of garment. Experiment results show that the proposed method performs well and is applicable to different garments in robotic manipulation.

Original languageEnglish
Title of host publicationProceedings - 2019 4th International Conference on Control, Robotics and Cybernetics, CRC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages57-64
Number of pages8
ISBN (Electronic)9781728146201
DOIs
Publication statusPublished - Sep 2019
Event4th International Conference on Control, Robotics and Cybernetics, CRC 2019 - Tokyo, Japan
Duration: 27 Sep 201930 Sep 2019

Publication series

NameProceedings - 2019 4th International Conference on Control, Robotics and Cybernetics, CRC 2019

Conference

Conference4th International Conference on Control, Robotics and Cybernetics, CRC 2019
CountryJapan
CityTokyo
Period27/09/1930/09/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Control and Optimization

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  • Cite this

    Hou, Y. C., Sahari, K. S. M., How, D. N. T., & Weng, L. Y. (2019). Category classification of deformable object using hybrid dynamic model for robotic grasping. In Proceedings - 2019 4th International Conference on Control, Robotics and Cybernetics, CRC 2019 (pp. 57-64). [9058831] (Proceedings - 2019 4th International Conference on Control, Robotics and Cybernetics, CRC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CRC.2019.00021