Development of 3D elastic deformable object model for robot manipulation purposes

• Main Authors: Hou Y.C., Sahari K.S.M., Yin G.C.
• Other Authors: 37067465000
• Format: Conference paper
• Published: 2023
• Subjects: Cloth folding; Elastic deformable object; Mass-spring model; Robot manipulation; Deformation; Mobile robots; Robotic arms; 3D object; Deformable object; Explicit integration; External force; Home service robot; Initial conditions; Mass spring systems; Mass-spring models; Particle position; Vision-based tracking; Three dimensional

This paper presents a mass-spring model applied in the manipulation of elastic deformable object for home service robot application. In this paper, we present a system used to fold a piece of rectangular cloth from a specific initial condition using robot. The cloth is modeled as a 3D object in a 2D...