Zhonghua Xi

Learn 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)
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)
While techniques that segment shapes into visually meaningful parts have generated impressive results, these techniques also have only focused on relatively simple shapes, such as those composed of a single object either without holes or with few simple holes. In many applications, shapes created from images can contain many overlapping objects and holes.(More)
Decomposing a 3D model into approximately convex components has gained more attention recently due to its ability to efficiently generate small decomposition with controllable concavity bound. However, current methods are computationally expensive and require many user parameters. These parameters are usually unin-tuitive and add unnecessary obstacles in(More)
Cut along the surface of a polyhedron and unfold it to a planar structure without overlapping is known as Unfolding Polyhedra problem which has been extensively studied in the mathematics literature for centuries. However, whether there exists a continuous unfolding motion such that the polyhedron can be continuously transformed to its unfolding has not(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 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)
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)