20 citations · 94 across the 57 of their papers we have counts for
15 papers · 1 filter
Keypoint-Based Bimanual Shaping of Deformable Linear Objects under Environmental Constraints using Hierarchical Action Planning
Shengzeng Huo, Anqing Duan, Chengxi Li +3
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of…
Learning Cloth Folding Tasks with Refined Flow Based Spatio-Temporal Graphs
Peng Zhou, Omar Zahra, Anqing Duan +3
Cloth folding is a widespread domestic task that is seemingly performed by humans but which is highly challenging for autonomous robots to execute due to the highly deformable natu…
Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation
Wanyu Ma, Bin Zhang, Lijun Han +3
In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we devel…
Follow the Curve: Robotic-Ultrasound Navigation with Learning Based Localization of Spinous Processes for Scoliosis Assessment
Maria Victorova, Michael Ka-Shing Lee, David Navarro-Alarcon +1
The scoliosis progression in adolescents requires close monitoring to timely take treatment measures. Ultrasound imaging is a radiation-free and low-cost alternative in scoliosis a…
A Multi-Sensor Interface to Improve the Learning Experience in Arc Welding Training Tasks
Hoi-Yin Lee, Peng Zhou, Anqing Duan +3
This paper presents the development of a multi-sensor user interface to facilitate the instruction of arc welding tasks. Traditional methods to acquire hand-eye coordination skills…
Can a Tesla Turbine be Utilised as a Non-Magnetic Actuator for MRI-Guided Robotic Interventions?
David Navarro-Alarcon, Luiza Labazanova, Man Kiu Chow +2
This paper introduces a new type of nonmagnetic actuator for MRI interventions. Ultrasonic and piezoelectric motors are one the most commonly used actuators in MRI applications. Ho…
Towards a Multispectral RGB-IR-UV-D Vision System -- Seeing the Invisible in 3D
Tanhao Zhang, Luyin Hu, Lu Li +1
In this paper, we present the development of a sensing system with the capability to compute multispectral point clouds in real-time. The proposed multi-eye sensor system effective…
A Novel Approach to Model the Kinematics of Human Fingers Based on an Elliptic Multi-Joint Configuration
Zeyu Wu, Luiza Labazanova, Peng Zhou +1
In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general an…
A Split-face Study of Novel Robotic Prototype vs Human Operator in Skin Rejuvenation Using Q-switched Nd:Yag Laser: Accuracy, Efficacy and Safety
Si Un Chan, Cheong Cheong Ip, Chengxiang Lian +7
Background: Robotic technologies involved in skin laser are emerging. Objective: To compare the accuracy, efficacy and safety of novel robotic prototype with human operator in lase…
Contour Moments Based Manipulation of Composite Rigid-Deformable Objects with Finite Time Model Estimation and Shape/Position Control
Jiaming Qi, Guangfu Ma, Jihong Zhu +4
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applicatio…
Challenges and Outlook in Robotic Manipulation of Deformable Objects
Jihong Zhu, Andrea Cherubini, Claire Dune +10
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new a…
Bio-Inspired Design of Artificial Striated Muscles Composed of Sarcomere-Like Contraction Units (preprint)
Luiza Labazanova, Zeyu Wu, Zhengping Gu +1
Biological muscles have always attracted robotics researchers due to their efficient capabilities in compliance, force generation, and mechanical work. Many groups are working on t…
A Neurorobotic Embodiment for Exploring the Dynamical Interactions of a Spiking Cerebellar Model and a Robot Arm During Vision-based Manipulation Tasks
Omar Zahra, David Navarro-Alarcon, Silvia Tolu
While the original goal for developing robots is replacing humans in dangerous and tedious tasks, the final target shall be completely mimicking the human cognitive and motor behav…
Shape Control of Elastic Objects Based on Implicit Sensorimotor Models and Data-Driven Geometric Features
Wanyu Ma, Jihong Zhu, David Navarro-Alarcon
This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature…
Towards Latent Space Based Manipulation of Elastic Rods using Autoencoder Models and Robust Centerline Extractions
Jiaming Qi, Guangfu Ma, Peng Zhou +3
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical pr…