9 citations · 23 across the 24 of their papers we have counts for
27 papers
RealSimLoop: Online Real-to-Sim Adaptation via Differentiable Reduced-Order Simulation with Vision Feedback
Zhihao Cen, Chuhua Xian, Hailin Sun +6
Real-world observations of deformable objects are often sparse or surface-level, while downstream tasks require hidden physical quantities such as internal deformation, stress fiel…
Proximity3D: Shape from Capacitive Proximity on Sensing Manifold
Hao Chen, Chenming Wu, Chun Ping Lam +6
Most shape reconstruction methods assume measurements defined over planar sensing domains, such as RGB images or depth maps. In this paper, we use a curved capacitive textile as a…
WildFab: Multi-Axis 3D Printing from Models in the Wild
Jiasheng Qu, Zhikai Shen, Chenyu Xu +6
Multi-axis 3D printing enables support-free fabrication and improved part quality, but robustly processing real-world geometries remains challenging. Models from design workflows o…
Trajectory Optimization for Collision-Aware Redundant Robotic Multi-Axis Additive Manufacturing by Constrained Gradient Projection
Zhikai Shen, Jiasheng Qu, Chenyu Xu +4
Redundant robotic multi-axis additive manufacturing (MAAM) enables support-free and conformal fabrication, but trajectory optimization for long-horizon paths remains challenging un…
Reduced-order Neural Modeling with Differentiable Simulation for High-Detail Tactile Perception
Yuhu Guo, Zhikai Shen, Jiasheng Qu +4
Tactile perception is key to dexterous manipulation, yet simulating high-resolution elastomer deformation remains computationally prohibitive. Finite element methods (FEM) deliver…
FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
Zhen Zhang, Weinan Wang, Hejia Sun +4
Current dexterous manipulation systems commonly rely on external or wrist-mounted cameras for visual feedback. However, such sensing setups are prone to occlusion and can limit per…
Model-Free Co-Optimization of Manufacturable Sensor Layouts and Deformation Proprioception
Yingjun Tian, Guoxin Fang, Aoran Lyu +5
Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape pre…
Towards Intuitive Human-Robot Interaction through Embodied Gesture-Driven Control with Woven Tactile Skins
ChunPing Lam, Xiangjia Chen, Chenming Wu +6
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventiona…
INF-3DP: Implicit Neural Fields for Collision-Free Multi-Axis 3D Printing
Jiasheng Qu, Zhuo Huang, Dezhao Guo +5
We introduce a general, scalable computational framework for multi-axis 3D printing based on implicit neural fields (INFs) that unifies all stages of toolpath generation and global…
Correspondence-Free, Function-Based Sim-to-Real Learning for Deformable Surface Control
Yingjun Tian, Guoxin Fang, Renbo Su +6
This paper presents a correspondence-free, function-based sim-to-real learning method for controlling deformable freeform surfaces. Unlike traditional sim-to-real transfer methods…
Curve-based slicer for multi-axis DLP 3D printing
Chengkai Dai, Tao Liu, Dezhao Guo +4
This paper introduces a novel curve-based slicing method for generating planar layers with dynamically varying orientations in digital light processing (DLP) 3D printing. Our appro…
Accelerate Neural Subspace-Based Reduced-Order Solver of Deformable Simulation by Lipschitz Optimization
Aoran Lyu, Shixian Zhao, Chuhua Xian +3
Reduced-order simulation is an emerging method for accelerating physical simulations with high DOFs, and recently developed neural-network-based methods with nonlinear subspaces ha…
Motion-Driven Neural Optimizer for Prophylactic Braces Made by Distributed Microstructures
Xingjian Han, Yu Jiang, Weiming Wang +9
Joint injuries, and their long-term consequences, present a substantial global health burden. Wearable prophylactic braces are an attractive potential solution to reduce the incide…
Learning Based Toolpath Planner on Diverse Graphs for 3D Printing
Yuming Huang, Yuhu Guo, Renbo Su +9
This paper presents a learning based planner for computing optimized 3D printing toolpaths on prescribed graphs, the challenges of which include the varying graph structures on dif…
Function based sim-to-real learning for shape control of deformable free-form surfaces
Yingjun Tian, Guoxin Fang, Renbo Su +4
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The di…
Exceptional Mechanical Performance by Spatial Printing with Continuous Fiber: Curved Slicing, Toolpath Generation and Physical Verification
Guoxin Fang, Tianyu Zhang, Yuming Huang +3
This work explores a spatial printing method to fabricate continuous fiber-reinforced thermoplastic composites (CFRTPCs), which can achieve exceptional mechanical performance. For…
Spring-IMU Fusion Based Proprioception for Feedback Control of Soft Manipulators
Yinan Meng, Guoxin Fang, Jiong Yang +2
This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely…
Vector Field Based Volume Peeling for Multi-Axis Machining
Neelotpal Dutta, Tianyu Zhang, Guoxin Fang +2
This paper presents an easy-to-control volume peeling method for multi-axis machining based on the computation taken on vector fields. The current scalar field based methods are no…
Support Generation for Robot-Assisted 3D Printing with Curved Layers
Tianyu Zhang, Yuming Huang, Piotr Kukulski +3
Robot-assisted 3D printing has drawn a lot of attention by its capability to fabricate curved layers that are optimized according to different objectives. However, the support gene…
OpenPneu: Compact platform for pneumatic actuation with multi-channels
Yingjun Tian, Renbo Su, Xilong Wang +3
This paper presents a compact system, OpenPneu, to support the pneumatic actuation for multi-chambers on soft robots. Micro-pumps are employed in the system to generate airflow and…
Soft Robotic Mannequin: Design and Algorithm for Deformation Control
Yingjun Tian, Guoxin Fang, Justas Petrulis +2
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane o…
Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing
Guoxin Fang, Yingjun Tian, Andrew Weightman +1
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their perfo…
Field-Based Toolpath Generation for 3D Printing Continuous Fibre Reinforced Thermoplastic Composites
Xiangjia Chen, Guoxin Fang, Wei-Hsin Liao +1
We present a field-based method of toolpath generation for 3D printing continuous fibre reinforced thermoplastic composites. Our method employs the strong anisotropic material prop…
Singularity-aware motion planning for multi-axis additive manufacturing
Tianyu Zhang, Xiangjia Chen, Guoxin Fang +2
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include thre…