3 papers
cs.RO2026
RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying
Jiahui Zuo, Boyang Zhang, Fumin Zhang
Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods t…
cs.RO2025
CaRoBio: 3D Cable Routing with a Bio-inspired Gripper Fingernail
Jiahui Zuo, Boyang Zhang, Fumin Zhang
The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing…
cs.RO2025
A Vision-Based Collision Sensing Method for Stable Circular Object Grasping with A Soft Gripper System
Boyang Zhang, Jiahui Zuo, Zeyu Duan +1
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to mainta…