41 citations · 104 across the 45 of their papers we have counts for
5 papers · 1 filter
Realtime Simulation of Thin-Shell Deformable Materials using CNN-Based Mesh Embedding
Qingyang Tan, Zherong Pan, Lin Gao +1
We address the problem of accelerating thin-shell deformable object simulations by dimension reduction. We present a new algorithm to embed a high-dimensional configuration space o…
New Formulation of Mixed-Integer Conic Programming for Globally Optimal Grasp Planning
Min Liu, Zherong Pan, Kai Xu +1
We present a two-level branch-and-bound (BB) algorithm to compute the optimal gripper pose that maximizes a grasp metric in a restricted search space. Our method can take the gripp…
Generating Optimal Grasps Under A Stress-Minimizing Metric
Zherong Pan, Xifeng Gao, Dinesh Manocha
We present stress-minimizing (SM) metric, a new metric of grasp qualities. Unlike previous metrics that ignore the material of target objects, we assume that target objects are mad…
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +2
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using onl…
Generating Grasp Poses for a High-DOF Gripper Using Neural Networks
Min Liu, Zherong Pan, Kai Xu +2
We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number o…