Object Isolation With Minimal Impact Towards The Object Of Interest In A Complex Environment Using Manipulation Primitives

• Main Authors: Quah, Jit Shen, Miskon, Muhammad Fahmi, Mohd Annuar, Khalil Azha
• Format: Article
• Language: English
• Published: Blue Eyes Intelligence Engineering & Sciences Publication (BEIESP) 2019
• Online Access: http://eprints.utem.edu.my/id/eprint/24396/2/OBJECTISOLATIONWITHMINIMALIMPACTTOWARDSTHEOBJECTOFINTERESTINACOMPLEXENVIRONMENTUSINGMANIPULATIONPRIMITIVES.PDF; http://eprints.utem.edu.my/id/eprint/24396/; https://www.ijrte.org/wp-content/uploads/papers/v8i3S2/C10411083S219.pdf

It is common in the field of robotic manipulation to specifically target and precisely move, displace or manipulate the targeted object of interest. This however may not always be the best possible course of action as there are situations where it is not possible to manipulate the object of interest or is not in a condition to be manipulated. This research paper explores and subsequently proposes 3 object isolation technique for the purpose of isolating a targeted object of interest from the environment incontras to the standard utilization of object singulation technique. The goal was to develop an algorithm than can successfully isolate the object of interest from the environment via removing the environment without/with minimal impact towards the object of interest. Results from the experiment indicated that the proposed algorithms can successfully isolate the object of interest with minimal impact towards the object of interest scoring an average of 0.85cm/actuation for MSMAPPS, 0.75cm/actuation for MSMAPOS and finally 0.27cm/actuation for BSMAPOS. These results indicates a relatively small displacement per actuation at 4.35% displacement per actuation, 3.75% displacement per actuation, and 1.35% displacement per actuation relative to the workspace respectively