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Dayuan Chen

5 accepted papers

2026

A Versatile Underactuated Robotic Hand for Cloth Manipulation

Xinhao Chen, Alberto Elías Petrilli Barceló, Saeed Shiry Ghidary, Dayuan Chen, Jose Victorio Salazar Luces, Yasuhisa Hirata
ICRA 2026poster

Traditional cloth manipulation often employs low- DOF grippers to simplify hardware. However, this approach presents significant challenges for algorithms due to the complex and dynamic behavior of fabrics. To address these limitations, we propose a novel approach based on a human-hand-like de- sign…

Cited by 0Source ↗Scholar ↗
2026

SIS: Seam-Informed Strategy for T-Shirt Unfolding

Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Dayuan Chen, Yasuhisa Hirata +2
ICRA 2026poster

Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

A Versatile Underactuated Robotic Hand for Cloth Manipulation

Xinhao Chen, Alberto Elías Petrilli-Barceló, Saeed Shiry Ghidary, Dayuan Chen, Jose Victorio Salazar Luces, Yasuhisa Hirata
RA-L 2025

Traditional cloth manipulationg often employs low-DOF grippers to simplify hardware. However, this approach presents significant challenges for algorithms due to the complex and dynamic behavior of fabrics. To address these limitations, we propose a novel approach based on a human-hand-like design t

Cited by 2Source ↗Scholar ↗
2025

SIS: Seam-Informed Strategy for T-Shirt Unfolding

Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Dayuan Chen, Yasuhisa Hirata +2
RA-L 2025

Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol

Cited by 4Source ↗code ↗Scholar ↗
2021

Development of a Vision-Based Robotic Manipulation System for Transferring of Oocytes

Shu Miao, Dayuan Chen, Qiang Nie, Xin Jiang, Xulin Sun, Jianjun Dai +2
IROS 2021poster

Embryos/oocytes vitrification is an essential cryopreservation technique in IVF (in vitro fertilization) clinics. The reliable and effective transferring of embryos/oocytes is crucial to the subsequent steps in the whole procedure of vitrification. After each transferring, the straw needs to be repl…

Cited by 7Source ↗Scholar ↗