Zeyang Xia

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Global path planning and navigation strategies for humanoid robots are different from those for mobile robots, since humanoid robots can step over or upon some obstacles. Sampling-based footstep planning is a goal-directed navigation approach for humanoid robots which considers both this unique locomotion capability and the global environment information.(More)
This paper intends to create a simulation of manipulator and illustrates the methods of how to implement robot control in a short time. Here we complete the grasp and place mission using Gazebo virtual world and Robot Operating System (ROS). ROS is a distributed framework that is widely used in robotics. Considering the advantages of its easier hardware(More)
A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud(More)
This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman Filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera(More)
INTRODUCTION Young's modulus (E) and Poisson's ratio (v) of the periodontal ligament are needed in a finite element analysis for investigating the biomechanical behavior of a tooth, periodontal ligament, and bone complex. However, large discrepancies in E (0.01-1,750 MPa) and v (0.28-0.49) were reported previously. The objective of this study was to narrow(More)
This system present a feasibility of computer-aided diagnosis, planning and simulation for orthodontic treatment. In the Visualization Toolkit (VTK) and Microsoft Foundation Classes (MFC) integrated environment, a flexible, friendly and functional interface for orthodontic treatment was designed. The methods of how to integrate VTK and MFC in different(More)
OF THE TALK To realize the humanoid locomotion in the environment of the human beings is an important goal of humanoid robotics research. Footstep planning is a sampling-based path planning method for humanoids considering global environment information, which is an effective method to resolve the locomotion planning in complex unstructured environment. The(More)