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Modeling of flexible deformable object for robotic manipulation

Gravitation; Intelligent control; Intelligent robots; Robotics; Smart sensors; Deformable modeling; Initial conditions; Integration method; Particle position; Path optimizations; Robotic applications; Robotic manipulation; Vision recognition; Deformation

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Bibliographic Details
Main Authors: Hou Y.C., Sahari K.S.M., How D.N.T.
Other Authors: 37067465000
Format: Conference Paper
Published: Institute of Electrical and Electronics Engineers Inc. 2023
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spelling my.uniten.dspace-230932023-05-29T14:37:44Z Modeling of flexible deformable object for robotic manipulation Hou Y.C. Sahari K.S.M. How D.N.T. 37067465000 57218170038 56942483000 Gravitation; Intelligent control; Intelligent robots; Robotics; Smart sensors; Deformable modeling; Initial conditions; Integration method; Particle position; Path optimizations; Robotic applications; Robotic manipulation; Vision recognition; Deformation 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. � 2016 IEEE. Final 2023-05-29T06:37:44Z 2023-05-29T06:37:44Z 2017 Conference Paper 10.1109/IRIS.2016.8066072 2-s2.0-85050243704 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85050243704&doi=10.1109%2fIRIS.2016.8066072&partnerID=40&md5=e0962145522da1a70523cacf20f6e2a4 https://irepository.uniten.edu.my/handle/123456789/23093 92 95 Institute of Electrical and Electronics Engineers Inc. 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 Gravitation; Intelligent control; Intelligent robots; Robotics; Smart sensors; Deformable modeling; Initial conditions; Integration method; Particle position; Path optimizations; Robotic applications; Robotic manipulation; Vision recognition; Deformation
author2 37067465000
author_facet 37067465000
Hou Y.C.
Sahari K.S.M.
How D.N.T.
format Conference Paper
author Hou Y.C.
Sahari K.S.M.
How D.N.T.
spellingShingle Hou Y.C.
Sahari K.S.M.
How D.N.T.
Modeling of flexible deformable object for robotic manipulation
author_sort Hou Y.C.
title Modeling of flexible deformable object for robotic manipulation
title_short Modeling of flexible deformable object for robotic manipulation
title_full Modeling of flexible deformable object for robotic manipulation
title_fullStr Modeling of flexible deformable object for robotic manipulation
title_full_unstemmed Modeling of flexible deformable object for robotic manipulation
title_sort modeling of flexible deformable object for robotic manipulation
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2023
_version_ 1806427344051634176
score 13.214268

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