Xinjia Huang — accepted AI-conference papers

2024

Design and Kinematic Modeling of a Pneumatic Soft Bellow-Type Wrist

Jialong Liang, Xinjia Huang, Kai Luo, Zenan Song, Yang Yang, Feifei Chen

RA-L 2024

In this letter, we aim to develop an efficient and accurate kinematic model of a soft wrist that consists of pneumatic bellows configured in parallel, toward dexterous manipulation in confined space. The challenge arises from the distributed nature and deformation-dependency of the generated pneumat

Cited by 8 Source ↗Scholar ↗

2024

Multidirectional Bending Soft Pneumatic Actuator With Fishbone-Like Strain-Limiting Layer for Dexterous Manipulation

Xinyu Yang, Ningbin Zhang, Xinjia Huang, Rong Bian, Miao Feng, Xiangyang Zhu +1

RA-L 2024

Soft pneumatic actuators (SPAs), due to their compliance and adaptiveness, are promising solutions for manipulation. However, most SPAs have only simple motion modes and cannot perform the compound motion required for complex manipulation. In this letter, we propose a parallel-chamber actuator capab

Cited by 17 Source ↗Scholar ↗