Zhonghua Xi

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Rigid origami is a class of origami whose entire surface remains rigid during folding except at crease lines. Rigid origami finds applications in manufacturing and packaging, such as map folding and solar panel packing. Advances in material science and robotics engineering also enable the realization of self-folding rigid origami and have fueled the(More)
Recent advances in robotics engineering have enabled the realization of self-folding machines. Rigid origami is usually used as the underlying model for the self-folding machines whose surface remains rigid during folding except at joints. A key issue in designing rigid origami is foldability that concerns about finding folding steps from a flat sheet of(More)
Bridge: dash line Pocket: H Concavity: Distance from a point to bridge (e.g. the arrow) Concave features: the vertices on the variational approximation shape of the pocket. Methodology Dual-space Decomposition (DuDe): a divide-and-conquer approach 1. Decompose the complementary of input first; 2. Use the result from step 1 to assist the decomposition of(More)
Collision detection is a fundamental geometric tool for sampling-based motion planners. On the contrary, collision prediction for the scenarios that obstacle's motion is unknown is still in its infancy. This paper proposes a new approach to predict collision by assuming that obstacles are adversarial. Our new tool advances collision prediction beyond the(More)
Rigid origami is a class of origami whose entire surface remains rigid during folding except at crease lines. In this work, we explore the idea of determining distinct shapes that can be realized by a given crease pattern. Typically, crease pattern is designed with a single target shape in mind. However, as the advances in material science and robotics(More)
Collision prediction is a fundamental operation for planning motion in dynamic environment. Existing methods usually exploit complex behavior models or use dynamic constraints in collision prediction. However, these methods all assume simple geometries, such as disc, which significantly limit their applicability. This paper proposes a new approach that(More)
— Collision prediction is a fundamental operation for planning motion in dynamic environment. Existing methods usually exploit complex behavior models or use dynamic constraints in collision prediction. However, these methods all assume simple geometries, such as disc, which significantly limit their applicability. This paper proposes a new approach that(More)