A5102781223- Piezoelectric Actuators and Control
- Robotic Mechanisms and Dynamics
- Optical measurement and interference techniques
- Robotics and Sensor-Based Localization
- Robot Manipulation and Learning
- Image and Object Detection Techniques
- Industrial Vision Systems and Defect Detection
- Welding Techniques and Residual Stresses
- Iterative Learning Control Systems
- Soft Robotics and Applications
- 3D Shape Modeling and Analysis
- Robotic Path Planning Algorithms
- Topology Optimization in Engineering
- Force Microscopy Techniques and Applications
- Muscle activation and electromyography studies
- Advanced Vision and Imaging
- Image Processing Techniques and Applications
- Advanced Measurement and Metrology Techniques
- Non-Destructive Testing Techniques
- Neuroscience and Neural Engineering
- 3D Surveying and Cultural Heritage
- Robotics and Automated Systems
- Modular Robots and Swarm Intelligence
- Advanced Numerical Analysis Techniques
- Dielectric materials and actuators
South China University of Technology
2015-2024
Nanjing University of Science and Technology
2021-2024
This work proposes a robust unwrapping algorithm for noisy and steep phase maps based on the residue calibrated least-squares method. The proposed calculates calibrates residues in derivative to get noise-free Poisson equation. Moreover, it compensates residuals between wrapped unwrapped iteratively eliminate approximation errors smoothing effect of robustness efficiency are validated by simulated experimentally maps. Compared with other three typical algorithms, has most effective...
Abstract Dielectric elastomer-based crawling robots can utilize a voltage-induced deformation to achieve prescribed movements. Although rich repertoire of have been proposed with various design schemes, developing the logic and unified methodology is hard. This work designs inchworm-inspired based on computational optimization. An improved shape topology optimization method developed using fat B-spline curve generate stable frame for dielectric elastomer actuators (DEAs). framework proposed,...
Abstract Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA a dual bending SPA. By constraining the deformation elastomeric chamber, SPAs realize prescribed motions, deformations subjected pressures characterized with numerical models. Experiments performed for verification, results show good agreement. The...
Abstract Recently, soft pneumatic actuators (SPAs) have drawn increasing attention due to their ease of fabrication, high customizability, and intrinsic softness. Inspired by modular design, two kinds SPAs, including an axial elongation actuator (aeSPA) a radial expansion (reSPA), are proposed in this paper, followed modeling, application locomotion robots. The relationships between pressure displacement these SPAs deduced based on the Yeoh model principle virtual work, which has good...
This paper describes a design of soft pneumatic actuator(SPA), the fabrication process which was based on 3D print technology. Optimal done by using non-linear finite element method, in geometrical and material non-linearity were considered. In this paper, characteristics two kinds SPAs, single actuator(SMA) dual actuator(DMA) analyzed evaluated at same time to lead optimal actuator designs, validated against experimental data one-degree bending. order get largest deformation under given...
This letter proposes a prior information-assisted (PIA) point cloud segmentation network that can be effectively applied to applications in human-robot interaction scenario. The joint angles of the robots are used as information, which is fed into an additional input form vector along with actual target scene. PIA incorporates generation and simulation-assisted network. Based on robots, generates for simulated scene without people or obstacles. Several new loss functions proposed train...
Abstract With the advancement of industrial automation, frequency human–robot interaction (HRI) has significantly increased, necessitating a paramount focus on ensuring human safety throughout this process. This paper proposes simulation‐assisted neural network for point cloud segmentation in HRI, specifically distinguishing humans from various surrounding objects. During readily accessible prior information, such as positions background objects and robot's posture, can generate simulated...
In order to satisfy particular design specifications, shape variation for limited geometric envelopes is often employed alter the elastic properties of flexure joints. This paper introduces an analytical stiffness matrix method model a new type corrugated (CF) beam with cubic Bézier curve segments. The curves are used depict segments combined form CF and translational joint. Mohr's integral applied derive local-frame compliance segment. global-frame matrices unit further formed by method,...