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

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dc.citedby0
dc.contributor.authorHou Y.C.en_US
dc.contributor.authorSahari K.S.M.en_US
dc.contributor.authorYin G.C.en_US
dc.contributor.authorid37067465000en_US
dc.contributor.authorid57218170038en_US
dc.contributor.authorid55081314200en_US
dc.date.accessioned2023-12-28T06:30:28Z
dc.date.available2023-12-28T06:30:28Z
dc.date.issued2012
dc.description.abstractThis 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 quadrangular mesh based on a mass-spring system and its state is estimated using an explicit integration scheme that computes the particle position as a function of internal and external forces acting on the elastic deformable object. The state of the elastic deformable object under robot manipulation is currently tracked from the trajectory of the mass points in the massspring system model in a self developed simulator, which integrates a mass-spring model and a 5 DOF articulated robotic arm. To test the reliability of the model, the simulator is used to predict the best possible paths for the robotic arm to fold a rectangular cloth in two. In the test, the state of the object is derived from the model and then compared with practical experiment. Based on the test, the error is generally acceptable. Thus, this model can be used as an estimator for vision-based tracking on the state of an elastic deformable object for manipulation by home service robots. � (2012) Trans Tech Publications, Switzerland.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.4028/www.scientific.net/AMM.157-158.1167
dc.identifier.epage1172
dc.identifier.scopus2-s2.0-84858115854
dc.identifier.spage1167
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84858115854&doi=10.4028%2fwww.scientific.net%2fAMM.157-158.1167&partnerID=40&md5=0dba0b13e9707cd9f5073b71e55fe251
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/29548
dc.identifier.volume157-158
dc.pagecount5
dc.sourceScopus
dc.sourcetitleApplied Mechanics and Materials
dc.subjectCloth folding
dc.subjectElastic deformable object
dc.subjectMass-spring model
dc.subjectRobot manipulation
dc.subjectDeformation
dc.subjectMobile robots
dc.subjectRobotic arms
dc.subject3D object
dc.subjectDeformable object
dc.subjectExplicit integration
dc.subjectExternal force
dc.subjectHome service robot
dc.subjectInitial conditions
dc.subjectMass spring systems
dc.subjectMass-spring model
dc.subjectMass-spring models
dc.subjectParticle position
dc.subjectRobot manipulation
dc.subjectVision-based tracking
dc.subjectThree dimensional
dc.titleDevelopment of 3D elastic deformable object model for robot manipulation purposesen_US
dc.typeConference paperen_US
dspace.entity.typePublication
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