5 papers
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…
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…
Sensing and Reconstruction of 3D Deformation on Pneumatic Soft Robots
Rob B. N. Scharff, Guoxin Fang, Yingjun Tian +3
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes m…
General Support-Effective Decomposition for Multi-Directional 3D Printing
Chenming Wu, Chengkai Dai, Guoxin Fang +2
We present a method for fabricating general models with multi-directional 3D printing systems by printing different model regions along with different directions. The core of our m…