Chungang Zhuang — accepted AI-conference papers

2025

Unified Gravitational and Elasto-Geometrical Calibration for an Industrial Robot Using Closed-Form Formulation

Zhongkai Zhang, Hongbo Hu, Pengxin Zha, Chungang Zhuang

RA-L 2025

The absolute positioning accuracy of industrial robots is significant in modern manufacturing scenarios. Mainstream approaches mostly focus on calibrating kinematic and joint compliance models to compensate for position errors. However, previous elasto-geometrical calibrations typically employ a pri

Cited by 2 Source ↗Scholar ↗

2023

GraNet: A Multi-Level Graph Network for 6-DoF Grasp Pose Generation in Cluttered Scenes

Haowen Wang, Wanhao Niu, Chungang Zhuang

IROS 2023poster

6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping task. This paper proposes GraNet, a graph-based grasp pose…

Cited by 9 Source ↗Scholar ↗