Modeling of flexible deformable object for robotic manipulation

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

Abstract

This paper presents an approach to apply the different flexible deformable model for robotic application. This approach is to simulate the different kind of flexible deformable object such as cloth, shirt and pant from specific initial condition through modeling system. The three-dimensional flexible deformable object is modeled as a two-dimensional quadrangular mesh and the particles inside the model are connected with different type of springs. Difference external forces such as handling action and gravity force will applying to the deformable model. The deformation can be estimated by using integration method to compute the change of the particle position in the model and the state of the deformable model can be tracked after simulation. Currently, the developed deformable model is integrated with two robotic arms in the simulation. To test the robustness of the developed deformable model, different handling process such as hanging, spreading and folding are applied to the flexible deformable model. The best possible path can be estimated from the simulation and utilize it in robotic control later. This approach can be used as an assisting tool to estimate the state for a flexible deformable model in vision recognition and also can be extended to path optimization for different unknown flexible deformable object.

Original languageEnglish
Title of host publicationIRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors
Subtitle of host publicationEmpowering Robots with Smart Sensors
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages92-95
Number of pages4
ISBN (Electronic)9781509060849
DOIs
Publication statusPublished - 11 Oct 2017
Event4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 - Tokyo, Japan
Duration: 17 Dec 201620 Dec 2016

Publication series

NameIRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors

Other

Other4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016
CountryJapan
CityTokyo
Period17/12/1620/12/16

    Fingerprint

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization
  • Instrumentation
  • Social Sciences (miscellaneous)

Cite this

Hou, Y. C., Mohamed Sahari, K. S., & Dickson Neoh, T. H. (2017). Modeling of flexible deformable object for robotic manipulation. In IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors (pp. 92-95). (IRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRIS.2016.8066072