Publications

Learning a General Model: Folding Clothing with Topological Dynamics Yiming Liu, Lijun Han, Enlin Gu, Hesheng Wang arxiv preprint. [pdf]

Developed a clothing folding workflow for multi-layered clothing like jackets using topological skeleton;

Used semantic augmentation to analyze self-occlusion and decompose clothing structure;

Used keypoint detection to generate a novel topological skeleton to represent the clothing state;

Deployed an improved Graph Neural Network (GNN) to predict the deformation of clothing for control;

Lightweight and Powerful Vacuum-Driven Gripper With Bioinspired Elastic Spine Yongzhou Long, Zhuang Zhang, Zhuowei Xu, Enlin Gu, Qiujie Lu, Hao Wang, Genliang Chen IEEE Robotics and Automation Letters, 2023. [pdf]

Developed a durable, rapid, and powerful vacuum-driven soft gripper inspired by elastic spine;

The designed gripper has a maximum grasping force over 50N and endures 10000+ cycles;

Carrying out quasi-static analysis to predict the bending behavior with high model accuracy;