*Jul*

Objective: When the hand is selecting gesture, cast a ray If the ray hits an object, highlight the object to represent "it is selected" When the hand is confirm gesture, destroy the ray, de-highlight the selected object Usage: only after an object is selected can it be modified Implementa...

*Jul*

I finished the way point smoother optimization algorithm to replace B-spline curve algorithm to make sure the final smoother path will not collide with obstacles. The failure cases: After way point smoother optimization: Other cases using way point smoother optimization:

*Jul*

I wrote a 2D SLAM simulation on Python as a starting point. I implemented the nonlinear least squares (NLS) SLAM. To be specific, it is just to solve: \((\hat{s}_{1:n}, \hat{\lambda}) = {arg\,min}_{({s}_{1:n}, {\lambda})}\, \sum_{t=0}^{n-1} \| s_{t+1} - f(s_t, u_t) \|^2_{Q} + \sum_{t=1}^n \| o_t -...

*Jul*

This week, I did quite a lot of literature review and a lot of math to convert the complicated model to a simple but really applicable version. The model can convert the corrugated sturcture to simple plates by redefining the equivalent material properties (Young's modulus mostly). Using this model,...

*Jul*

For the past week, I focued on the revision for the Robotica paper, titled 'Robotica_Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems.' It is pretty tricky to address some of the comments. I almost finish the first round revision. The due date i...

*Jul*

Objective: Grab an object when the hand is grabbing and near the object Change object's position and rotation according to hand's position and rotation Release the object when the hand is not grabbing Easy solution (also the method in the previous version of the project): When hand gestu...

*Jul*

I used 13 maps as the testing maps and implemented my algorithm, parameters of these maps: map name size initial point coordinate goal point coordinate duty cycles warran 1108 * 1301 (740,297) (430,1013) 0.347 map 1 500 * 500 (10,10) (490,490) 0.2444 map 2 500 * 500...

*Jul*

Objective: Use gesture to select an auto-generated button Generate new design object from backend compiler Implementation Steps Detect hand gesture at every frame, when current gesture is the gesture defined for creating (in our example case, gesture "point"), ready for creating. Find...

*Jul*

For the past few days, I have been studing the mechanical behaviors of accordion shape folded structures. I have also been studying the science of paper sheet, which is quite complicated. I have developed a mathematical model to predict the in-plane stiffness of both single-layered accordion shape f...

*Jul*

Motion planning is a key component for robots to realize navigation. A number of great works have been conducted in the world. They are grid-based approaches, sampling-based approaches, and trajectory optimization. I'll summarize the pros and cons of each motion planning algorithms in the future. ...