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DSCformer: A Dual-Branch Network Integrating Enhanced Dynamic Snake Convolution and SegFormer for Crack Segmentation

Autor: Yu, Kaiwei, Chen, I-Ming, Wu, Jing

In construction quality monitoring, accurately detecting and segmenting cracks in concrete structures is paramount for safety and maintenance. Current convolutional neural networks (CNNs) have demonstrated strong performance in crack segmentation tas

Externí odkaz: http://arxiv.org/abs/2411.09371

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Discretizing SO(2)-Equivariant Features for Robotic Kitting

Autor: Zhou, Jiadong, Zeng, Yadan, Dong, Huixu, Chen, I-Ming

Robotic kitting has attracted considerable attention in logistics and industrial settings. However, existing kitting methods encounter challenges such as low precision and poor efficiency, limiting their widespread applications. To address these issu

Externí odkaz: http://arxiv.org/abs/2403.13336

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Theoretical Model Construction of Deformation-Force for Soft Grippers Part II: Displacement Control Based Intrinsic Force Sensing

Autor: Dong, Huixu, Zheng, Ziyi, Guo, Haotian, Yang, Sihao, Qiu, Chen, Dai, Jiansheng, Chen, I-Ming

Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually maps the sh

Externí odkaz: http://arxiv.org/abs/2303.12418

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Theoretical Model Construction of Deformation-Force for Soft Grippers Part I: Co-rotational Modeling and Force Control for Design Optimization

Autor: Dong, Huixu, Guo, Haotian, Yang, Sihao, Qiu, Chen, Dai, Jiansheng, Chen, I-Ming

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship between sh

Externí odkaz: http://arxiv.org/abs/2303.12987

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Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints

Autor: Dong, Huixu, Feng, Yue, Qiu, Chen, Pan, Ye, He, Miaoying, Chen, I-Ming

We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding con

Externí odkaz: http://arxiv.org/abs/2208.12517

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