Chi-haur Wu

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An automatic method for generating assembly instructions using CAD files is presented in this paper. Algorithms for extracting geometrical information of objects stored in a non-proprietary format, ISO-10303, STEP-CAD data file are explained. The developed algorithms form an important link between design and manufacturing. In our previous work, we designed(More)
— In comparison with robot manipulators, primate limbs excel robots in facile movements requiring compliance control. Based on this fact, this paper will extend our findings in modeling the muscle-reflex mechanism of primate limbs to robotic control. After some salient properties of the neuro-muscular system were identified, a neuromuscular-like model that(More)
Research Interest: 1) Solar-powered (or battery-powered) electrical motor-driven vehicles. 2) Muscle compliant control for computer assisted surgical robot and rehabilitation robot. 3) Intelligent product assembly manufacturing. 4) Tele-manipulation and sensing control. 5) Human augmentation control for hoist and material handling applications. 6)(More)
A method for leveraging a communication protocol called Universal Plug and Play (UPnP) for workcell automation and integration is presented. By leveraging UPnP for automation equipment, a workcell can potentially be built in a modular manner whereby the modules can be easily replaced, reused, or upgraded over time with minimal re-engineering of a workcell.(More)
We previously proposed a general algorithm for coordinating the motions among multiple machines in a shared assembly environment based on a constant-speed motion model. In this paper, we extend this work to a minimum-jerk polynomial motion model and describe a new speed-planning algorithm to plan automated assembly machines' motions. Machines are planned(More)