3D Elastic Deformable Object Model for Robot Manipulation Purposes

Khairul Salleh Mohamed Sahari; Yew Cheong Hou

doi:10.20965/jaciii.2014.p0375

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JACIII Vol.18 No.3 pp. 375-382

doi: 10.20965/jaciii.2014.p0375

(2014)

Paper:

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3D Elastic Deformable Object Model for Robot Manipulation Purposes

Khairul Salleh Mohamed Sahari and Yew Cheong Hou

Centre for Advanced Mechatronics and Robotics, Universiti Tenaga Nasional, Jalan IKRAM-UNITEN, 43000 Kajang, Selangor, Malaysia

Received:

October 27, 2013

Accepted:

February 4, 2014

Published:

May 20, 2014

Keywords:

mass-spring model, elastic deformable object, cloth folding, robot manipulation

Abstract

This paper presents a mass-spring model applied to the manipulation of an elastic deformable object for home service robot application. A system is also proposed that is used to fold a piece of rectangular cloth from a specific initial condition using a robot. The cloth is modeled as a three-dimensional object in a two-dimensional quadrangular mesh based on a massspring system, and its state is estimated using an explicit integration scheme that computes the particle position as a function of the internal and external forces acting on the elastic deformable object. The current state of the elastic deformable object under robot manipulation is tracked based on the trajectory of the mass points in the mass-spring system model in a self-developed simulator, which integrates a massspring model and a five-degree-of-freedom articulated robotic arm. To test the reliability of the model, the simulator is used to predict the best possible paths for using the robotic arm to fold a rectangular cloth into two. In the test, the state of the object is derived from the model and then compared with the results of a practical experiment. Based on the test, the error is found to be generally acceptable. Thus, this model can be used as an estimator for the vision-based tracking of the state of an elastic deformable object for manipulation by home service robots.

Cite this article as:

K. Sahari and Y. Hou, “3D Elastic Deformable Object Model for Robot Manipulation Purposes,” J. Adv. Comput. Intell. Intell. Inform., Vol.18 No.3, pp. 375-382, 2014.

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References

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[2] M. Kaneko and M. Kakikura, “Planning Strategy for Putting away Laundry – Isolating and Unfolding Task –,” Proc. of the 4th IEEE Int. Symposium on Assembly and Task Planning, pp. 429-434, 2001.
[3] E. Ono, N. Kita, and S. Sakane, “Strategy for Unfolding a Fabric Piece by Cooperative Sensing of Touch and Vision,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp. 441-445, 1995.
[4] Y. Kita, F. Saito, and N. Kita, “A Deformable Model Driven Method for Handling Clothes,” Proc. of 17th Int. Conf. on Pattern Recognition (ICPR ’04), Vol.3, pp. 243-247, 2004.
[5] Y. Kita, T. Ueshiba, E. Neo, and N. Kita, “Clothes State Recognition using 3D observed Data,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1220-1225, 2009.
[6] F. Ji, R. Li, and Y. Qiu, “Three-dimensional Garment Simulation Based on aMass-Spring System,” Textile Research J., Vol.76, No.1, pp. 12-17, 2006.
[7] X. Hu, Y. Bai, S. Cui, X. Du, and Z. Deng, “Review of Cloth Modeling,” ISECS Int. Colloquium on Computing, Communication, Control, and Management, pp. 338-341, 2009.
[8] X. Provot, “Deformation Constraints in a Mass-Spring Model to Describe Rigid Cloth Behavior,” Graphics Interface ’95, 1995.
[9] M. Meyer, G. Debunne, M. Desbrun and A. Barr, “Interactive Animation of Cloth-like Objects in Virtual Reality,” J. of Visualization Computer Animation, Vol.12, No.1, pp. 1-12, 2001.
[10] D. Breen, D. House, and M. Wozny, “A Particle-Based Model for Simulating the Draping Behaviour of Woven Cloth,” The Visual Computer, Vol.8, pp. 264-277, 1992.
[11] M. Desbrun, P. Schroder, and A. Barr, “Interactive Animation of Structured Deformable Objects,” In Graphics Interface ’99 Proc., pp. 1-8, June 1999.
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[14] K. Goyal and D. Sethi, “An Analytical Method to Find Workspace of a Robotic Manipulator,” J. of Mechanical Engineering, Vol.ME41, No.1, pp. 25-30, June 2010.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] H. Nakagaki, K. Kitagaki, T. Ogasawara, and H. Tsukune, “Study of Deformation and Insertion Tasks of Flexible Wire,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 2397-2402, 1997.

[2] [2] M. Kaneko and M. Kakikura, “Planning Strategy for Putting away Laundry – Isolating and Unfolding Task –,” Proc. of the 4th IEEE Int. Symposium on Assembly and Task Planning, pp. 429-434, 2001.

[3] [3] E. Ono, N. Kita, and S. Sakane, “Strategy for Unfolding a Fabric Piece by Cooperative Sensing of Touch and Vision,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp. 441-445, 1995.

[4] [4] Y. Kita, F. Saito, and N. Kita, “A Deformable Model Driven Method for Handling Clothes,” Proc. of 17th Int. Conf. on Pattern Recognition (ICPR ’04), Vol.3, pp. 243-247, 2004.

[5] [5] Y. Kita, T. Ueshiba, E. Neo, and N. Kita, “Clothes State Recognition using 3D observed Data,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1220-1225, 2009.

[6] [6] F. Ji, R. Li, and Y. Qiu, “Three-dimensional Garment Simulation Based on aMass-Spring System,” Textile Research J., Vol.76, No.1, pp. 12-17, 2006.

[7] [7] X. Hu, Y. Bai, S. Cui, X. Du, and Z. Deng, “Review of Cloth Modeling,” ISECS Int. Colloquium on Computing, Communication, Control, and Management, pp. 338-341, 2009.

[8] [8] X. Provot, “Deformation Constraints in a Mass-Spring Model to Describe Rigid Cloth Behavior,” Graphics Interface ’95, 1995.

[9] [9] M. Meyer, G. Debunne, M. Desbrun and A. Barr, “Interactive Animation of Cloth-like Objects in Virtual Reality,” J. of Visualization Computer Animation, Vol.12, No.1, pp. 1-12, 2001.

[10] [10] D. Breen, D. House, and M. Wozny, “A Particle-Based Model for Simulating the Draping Behaviour of Woven Cloth,” The Visual Computer, Vol.8, pp. 264-277, 1992.

[11] [11] M. Desbrun, P. Schroder, and A. Barr, “Interactive Animation of Structured Deformable Objects,” In Graphics Interface ’99 Proc., pp. 1-8, June 1999.

[12] [12] D. House and D. Breen, “Cloth Modeling and Animation,” A. K. Peters, Ltd., 2000.

[13] [13] R. M. Murray, Z. Li, and S. S. Sastry, “A Mathematical Introduction to Robotic Manipulation,” CRC Press, 1994.

[14] [14] K. Goyal and D. Sethi, “An Analytical Method to Find Workspace of a Robotic Manipulator,” J. of Mechanical Engineering, Vol.ME41, No.1, pp. 25-30, June 2010.