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...

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. ...

A FORAY into Lighter Than Air Vehicles How can we create blimps that can outstrip competition in agility and speed? This was the initial question our team was posed with when embarking on this project. To solve it, we began with a "project proposal" outlining what we thought was the best method...

Objective: Automatically obtain a list of available design object from backend compiler (either local or remote compiler) Correspondingly auto generate a list of buttons for generating new objects Auto obtain available design list from compiler In our previous version of the system, the av...

For the past almost two months, I were preparing for my Ph.D qualifiying exam. I passed the exam this Wednesday. For this summer, I will work on creating more interesting printable mechanisms for robots towards my final goal to make robots fully printable. Stay tuned.

I did some research on different models to predict behaviors of foldable structures. The most useful (simple but sufficient) model for me to use is called "Bar-Hinge Model". It simplified foldable structures into bars and nodes. It can track the in-plane stretching and out-of-plane bending.

To utilize different resources from different computer system, expecially under the condition that now we are in quarantine, remote connection is a useful and powerful tool that could help us to remotely access other computers, like the powerful computers in our lab. In this blog, I'm going to sha...

Objective: Define a set of gestures Recognize them from hand models observed by Leapmotion Pre-defined gesture set .column { display: inline-block; width: 25%; padding: 10px; line-height: 0; } .row:after { content: ""; display: table; clear: both; } ...

This week, I was working on the following tasks: Formal analysis of a new motion planner with theoretical guarantees in terms of computation Survey of other motion planning algorithms using trajectory optimization. Although I was able to understand pros and cons of my new motion planner, I sti...

I was working on the following things this week: Proof sketch of new motion planner algorithms in terms of sub-optimality Finalize the paper, which was recently accepted for RA-L! Participated in ICRA conferences, where I could communicate the authors of other great papers. In particular, I wa...