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Guowu Wei - IEEE Xplore Author Profile
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Guowu Wei

Also published under: Guo-wu Wei

Publications
27
Citations
147
Publications by Year
20072025
Co-Authors:
Show All Co-Authors (47)
Image of author Guowu Wei

Guowu Wei

Also published under: Guo-wu Wei

Affiliation

School of Science
Engineering and Environment
University of Salford, Salford, U.K.

Publication Topics

Biography

Guowu Wei (Member, IEEE) received the Ph.D. degree in robotics from King’s College London, London, U.K., in 2012.,He is a Reader of Robotics and Mechanical Engineering with the School of Science, Engineering and Environment, University of Salford, Salford, U.K. His research interests include robotics, mechatronics, and manipulation and grasping, reconfigurable mechanisms and robotics, and biorobotics.,Dr. Wei is currently the Deputy Chair of IFToMM MO U.K. He serves as an Associate Editor for the Robotica, the Journal of Mechanical Engineering Science, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), and IEEE International Conference on Robotics and Automation (ICRA).(Based on document published on 14 November 2023).
Publications
27
Citations
147
Publications by Year
20072025
Co-Authors:
Show All Co-Authors (47)
Author's Published Works

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Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots

Eka Marliana;Latifah Nurahmi;Arif Wahjudi;I. Made Londen Batan;Guowu Wei

IEEE Access
Year: 2025 | Volume: 13 | Journal Article |
Friction Stir Welding (FSW) has recently emerged as an effective solid-state joining technique for welding high-strength aluminum alloys and light metals, particularly in the railway industry. However, a limitation of using FSW in this industry is the restricted workspace available. To address this issue, a 3-PUU (Prismatic and Universal Joints) parallel machine with 3-DoF (Degrees of Freedom) tra...Show More

Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots

Eka Marliana;Latifah Nurahmi;Arif Wahjudi;I. Made Londen Batan;Guowu Wei

Year: 2025 | Volume: 13 | Journal Article |

Design, Modeling, and Optimization of Hydraulically Powered Double-Joint Soft Robotic Fish

Sijia Liu;Chunbao Liu;Guowu Wei;Luquan Ren;Lei Ren

IEEE Transactions on Robotics
Year: 2025 | Volume: 41 | Journal Article |
Cited by: Papers (1)
This article explores a hydraulically powered double-joint soft robotic fish called HyperTuna and a set of locomotion optimization methods. HyperTuna has an innovative, highly efficient actuation structure that includes a four-cylinder piston pump and a double-joint soft actuator with self-sensing. We conducted deformation analysis on the actuator and established a finite element model to predict ...Show More

Design, Modeling, and Optimization of Hydraulically Powered Double-Joint Soft Robotic Fish

Sijia Liu;Chunbao Liu;Guowu Wei;Luquan Ren;Lei Ren

Year: 2025 | Volume: 41 | Journal Article |

Bioinspired Soft Actuators for High Bending Stiffness and Flexible Spatial Locomotion

Jiawei Xiong;Yuchao Luo;Feng Guan;Xiaowen Zhao;Yi Zeng;Guowu Wei;Xiaofeng Sun;Chunbao Liu

IEEE Robotics and Automation Letters
Year: 2024 | Volume: 9, Issue: 11 | Journal Article |
Soft pneumatic actuators often struggle to achieve both a high degree of freedom and high bending stiffness simultaneously. In this letter, we present a bionic soft pneumatic actuator inspired by the intricate musculature of the elephant trunk, which employs a dual actuation mode of transverse-longitudinal muscles to enable flexible spatial motion. By synergistically combining three different elas...Show More

Bioinspired Soft Actuators for High Bending Stiffness and Flexible Spatial Locomotion

Jiawei Xiong;Yuchao Luo;Feng Guan;Xiaowen Zhao;Yi Zeng;Guowu Wei;Xiaofeng Sun;Chunbao Liu

Year: 2024 | Volume: 9, Issue: 11 | Journal Article |

A Lightweight Powered Knee Prosthesis Replicating Early-Stance Knee Flexion During Level Walking

Wei Chen;Yongxin Ma;Lei Ren;Wei Liang;Xu Wang;Yao Zhang;Guowu Wei;Luquan Ren

IEEE Robotics and Automation Letters
Year: 2024 | Volume: 9, Issue: 11 | Journal Article |
Cited by: Papers (2)
Powered knee prostheses promise to improve the mobility of transfemoral amputees by imitating the biomechanics of the missing knee joint. Unfortunately, the heavy weight and short battery life severely limit the application of powered prostheses. Here, we present a lightweight powered knee prosthesis, which employs a series elastic actuator (SEA) integrating a high torque density external rotor mo...Show More

A Lightweight Powered Knee Prosthesis Replicating Early-Stance Knee Flexion During Level Walking

Wei Chen;Yongxin Ma;Lei Ren;Wei Liang;Xu Wang;Yao Zhang;Guowu Wei;Luquan Ren

Year: 2024 | Volume: 9, Issue: 11 | Journal Article |

An Improved Extreme Learning Machine (ELM) Algorithm for Intent Recognition of Transfemoral Amputees With Powered Knee Prosthesis

Yao Zhang;Xu Wang;Haohua Xiu;Wei Chen;Yongxin Ma;Guowu Wei;Lei Ren;Luquan Ren

IEEE Transactions on Neural Systems and Rehabilitation Engineering
Year: 2024 | Volume: 32 | Journal Article |
To overcome the challenges posed by the complex structure and large parameter requirements of existing classification models, the authors propose an improved extreme learning machine (ELM) classifier for human locomotion intent recognition in this study, resulting in enhanced classification accuracy. The structure of the ELM algorithm is enhanced using the logistic regression (LR) algorithm, signi...Show More

An Improved Extreme Learning Machine (ELM) Algorithm for Intent Recognition of Transfemoral Amputees With Powered Knee Prosthesis

Yao Zhang;Xu Wang;Haohua Xiu;Wei Chen;Yongxin Ma;Guowu Wei;Lei Ren;Luquan Ren

Year: 2024 | Volume: 32 | Journal Article |

Development and Characteristics of a Highly Biomimetic Robotic Shoulder Inspired by Musculoskeletal Mechanical Intelligence

Haosen Yang;Guowu Wei;Lei Ren

IEEE Transactions on Robotics
Year: 2024 | Volume: 40 | Journal Article |
This article provides a comprehensive analysis of the existing landscape of conventional and highly biomimetic robotic arms, highlighting a prevalent tradeoff between size, range of motion, and load capacity in current highly biomimetic designs. To overcome the limitations, this article undertakes an in-depth exploration of the human shoulder, focusing on the identification of mechanical intellige...Show More

Development and Characteristics of a Highly Biomimetic Robotic Shoulder Inspired by Musculoskeletal Mechanical Intelligence

Haosen Yang;Guowu Wei;Lei Ren

Year: 2024 | Volume: 40 | Journal Article |

Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization

Haosen Yang;Guowu Wei;Lei Ren

IEEE Transactions on Robotics
Year: 2024 | Volume: 40 | Journal Article |
Cited by: Papers (3)
This article delineates the formulation and verification of an innovative robotic elbow-and-forearm system design, mirroring the intricate biomechanics of human musculoskeletal systems. Conventional robotic models often undervalue the substantial function of soft tissues, which provides a compromise between compactness, safety, stability, and range of motion. In contrast, this study proposes a hol...Show More

Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization

Haosen Yang;Guowu Wei;Lei Ren

Year: 2024 | Volume: 40 | Journal Article |

The Fundamental Property of Human Leg During Walking: Linearity and Nonlinearity

Kunyang Wang;Amaraporn Boonpratatong;Wei Chen;Lei Ren;Guowu Wei;Zhihui Qian;Xuewei Lu;Di Zhao

IEEE Transactions on Neural Systems and Rehabilitation Engineering
Year: 2023 | Volume: 31 | Journal Article |
Cited by: Papers (34)
Leg properties have been involved in the broad study of human walking from mechanical energy to motion prediction of robotics. However, the variable leg elasticities and their functions during gait have not been fully explored. This study presented that the fundamental leg properties during human walking comprise axial stiffness, rest leg length, tangential stiffness and force-free leg angles. We ...Show More

The Fundamental Property of Human Leg During Walking: Linearity and Nonlinearity

Kunyang Wang;Amaraporn Boonpratatong;Wei Chen;Lei Ren;Guowu Wei;Zhihui Qian;Xuewei Lu;Di Zhao

Year: 2023 | Volume: 31 | Journal Article |

Preliminary Study of 3-D Dynamic Interactions Between Backpack and Bearer for Health Monitoring Using a Multiple Sensor Method

Kunyang Wang;Lei Ren;Richard Jones;Chris Nester;David Howard;Guowu Wei;Zhihui Qian;Xuewei Lu;Di Zhao;Luquan Ren

IEEE Sensors Journal
Year: 2023 | Volume: 23, Issue: 24 | Journal Article |
During loading carriage, the pack interaction forces exerted on the human torso directly relate to perceived discomfort and the risk of injury. Understanding these interactions will help to assess human health in real-world scenarios. However, 3-D interaction forces between the pack and torso are challenging to be directly measured from single-function sensors. In this article, we proposed a senso...Show More

Preliminary Study of 3-D Dynamic Interactions Between Backpack and Bearer for Health Monitoring Using a Multiple Sensor Method

Kunyang Wang;Lei Ren;Richard Jones;Chris Nester;David Howard;Guowu Wei;Zhihui Qian;Xuewei Lu;Di Zhao;Luquan Ren

Year: 2023 | Volume: 23, Issue: 24 | Journal Article |

Design and Kinematics Analysis of 3-PUU Translational Parallel Machine

Eka Marliana;Latifah Nurahmi;Arif Wahjudi;I Made Londen Batan;Guowu Wei

2023 9th International Conference on Mechatronics and Robotics Engineering (ICMRE)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
The 3-PUU (Prismatic and Universal joints) translational parallel machine is one of the three-degree-of-freedom (DOF) parallel manipulators, which was previously introduced by Tsai & Joshi in 2002. Since it performs 3-DOF and pure translation motion, this mechanism can be used as a welding robot that only needs to move in a translation manner. This paper discusses the kinematics and singularity an...Show More

Design and Kinematics Analysis of 3-PUU Translational Parallel Machine

Eka Marliana;Latifah Nurahmi;Arif Wahjudi;I Made Londen Batan;Guowu Wei

Year: 2023 | Conference Paper |

A Novel Soft Actuator: MISA and Its Application on the Biomimetic Robotic Arm

Haosen Yang;Guowu Wei;Lei Ren

IEEE Robotics and Automation Letters
Year: 2023 | Volume: 8, Issue: 4 | Journal Article |
Cited by: Papers (7)
This letter presents the design and development of a novel compact motor-based non-linear stiffness soft actuator used for tendon-driven joints, i.e. a magnet-integrated soft actuator (MISA). By applying a pair of antagonistic MISAs to a joint, it is capable of achieving joint stiffness adjustment and joint torque adaptation. The joint with MISAs can achieve a wide range of joint stiffness, about ...Show More

A Novel Soft Actuator: MISA and Its Application on the Biomimetic Robotic Arm

Haosen Yang;Guowu Wei;Lei Ren

Year: 2023 | Volume: 8, Issue: 4 | Journal Article |

Design, Manufacture, and Experimental Validation of a Hydraulic Semi-Active Knee Prosthesis

Zhennan Li;Yang Han;Chunbao Liu;Haohua Xiu;Guowu Wei;Lei Ren

IEEE Transactions on Neural Systems and Rehabilitation Engineering
Year: 2023 | Volume: 31 | Journal Article |
Cited by: Papers (5)
In this article, a new hydraulic semi-active knee (HSAK) prosthesis is proposed. Compared with knee prostheses driven by hydraulic-mechanical coupling or electromechanical systems, we novelly combine independent active and passive hydraulic subsystems to solve the incompatibility between low passive friction and high transmission ratio of current semi-active knees. The HSAK not only has the low fr...Show More

Design, Manufacture, and Experimental Validation of a Hydraulic Semi-Active Knee Prosthesis

Zhennan Li;Yang Han;Chunbao Liu;Haohua Xiu;Guowu Wei;Lei Ren

Year: 2023 | Volume: 31 | Journal Article |

Biomechanical Analysis of the Effect of Finger Joint Configuration on Hand Grasping Performance: Rigid vs Flexible

Yuyang Wei;Zhenmin Zou;Zhihui Qian;Lei Ren;Guowu Wei

IEEE Transactions on Neural Systems and Rehabilitation Engineering
Year: 2023 | Volume: 31 | Journal Article |
Cited by: Papers (2)
Human finger joints are conventionally simplified as rigid joints in robotic hand design and biomechanical hand modelling, due to their anatomic and morphologic complexity. However, our understanding of the effect of the finger joint configuration on the resulting hand performance is still primitive. In this study, we systematically investigate the grasping performance of the hands with the conven...Show More

Biomechanical Analysis of the Effect of Finger Joint Configuration on Hand Grasping Performance: Rigid vs Flexible

Yuyang Wei;Zhenmin Zou;Zhihui Qian;Lei Ren;Guowu Wei

Year: 2023 | Volume: 31 | Journal Article |

Energy Flow and Functional Behavior of Individual Muscles at Different Speeds During Human Walking

Zheqi Hu;Lei Ren;Guowu Wei;Zhihui Qian;Wei Liang;Wei Chen;Xuewei Lu;Luquan Ren;Kunyang Wang

IEEE Transactions on Neural Systems and Rehabilitation Engineering
Year: 2023 | Volume: 31 | Journal Article |
Cited by: Papers (28)
Understanding the distinct functions of human muscles could not only help professionals obtain insights into the underlying mechanisms that we accommodate compromised neuromuscular system, but also assist engineers in developing rehabilitation devices. This study aims to determine the contribution of major muscle and the energy flow in the human musculoskeletal system at four sub-phases (collision...Show More

Energy Flow and Functional Behavior of Individual Muscles at Different Speeds During Human Walking

Zheqi Hu;Lei Ren;Guowu Wei;Zhihui Qian;Wei Liang;Wei Chen;Xuewei Lu;Luquan Ren;Kunyang Wang

Year: 2023 | Volume: 31 | Journal Article |

Design, Control, and Validation of a Polycentric Hybrid Knee Prosthesis

Xu Wang;Yao Zhang;Wei Liang;Wei Chen;Haohua Xiu;Lei Ren;Guowu Wei;Luquan Ren

IEEE Transactions on Industrial Electronics
Year: 2023 | Volume: 70, Issue: 9 | Journal Article |
Cited by: Papers (6)
This article presents a novel polycentric hybrid knee prosthesis (PHKP) by enabling a multibar linkage to work for high-torque activities in active mode and for low-torque activities in passive mode. The mode transition is implemented the servo-controlled telescopic slide rails. Distinguished from the single-axis hybrid knee prostheses, the PHKP knee provides geometric stability in stance and nota...Show More

Design, Control, and Validation of a Polycentric Hybrid Knee Prosthesis

Xu Wang;Yao Zhang;Wei Liang;Wei Chen;Haohua Xiu;Lei Ren;Guowu Wei;Luquan Ren

Year: 2023 | Volume: 70, Issue: 9 | Journal Article |

An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part II: Flexible Tendon Sheath and Grasping Demonstration

Yiming Zhu;Guowu Wei;Lei Ren;Zirong Luo;Jianzhong Shang

IEEE Transactions on Robotics
Year: 2023 | Volume: 39, Issue: 1 | Journal Article |
Cited by: Papers (12)
The human hand has a fantastic ability to interact with various objects in the dynamic unstructured environment of our daily activities. We believe that this outstanding performance benefits a lot from the unique biological features of the hand musculoskeletal system. In Part I of this article, a bio-inspired anthropomorphic robotic finger was developed, based on which two human-finger-like biomec...Show More

An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part II: Flexible Tendon Sheath and Grasping Demonstration

Yiming Zhu;Guowu Wei;Lei Ren;Zirong Luo;Jianzhong Shang

Year: 2023 | Volume: 39, Issue: 1 | Journal Article |

An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part I: Design, Ligamentous Joint, and Extensor Mechanism

Yiming Zhu;Guowu Wei;Lei Ren;Zirong Luo;Jianzhong Shang

IEEE Transactions on Robotics
Year: 2023 | Volume: 39, Issue: 1 | Journal Article |
Cited by: Papers (13)
Exploring human hand fundamental biomechanical features and exploiting them to robotic hands have been proven to be an effective approach to enhancing artificial hands' performance, especially when interacting with various objects in dynamic unstructured environments. In this article, a bioinspired anthropomorphic robotic finger is first proposed, which embeds human finger musculoskeletal features...Show More

An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part I: Design, Ligamentous Joint, and Extensor Mechanism

Yiming Zhu;Guowu Wei;Lei Ren;Zirong Luo;Jianzhong Shang

Year: 2023 | Volume: 39, Issue: 1 | Journal Article |

Design and Validation of a Polycentric Hybrid Knee Prosthesis With Electromagnet-Controlled Mode Transition

Xu Wang;Haohua Xiu;Yao Zhang;Wei Liang;Wei Chen;Guowu Wei;Lei Ren;Luquan Ren

IEEE Robotics and Automation Letters
Year: 2022 | Volume: 7, Issue: 4 | Journal Article |
Cited by: Papers (5)
A hybrid knee prosthesis is proposed in this letter, which consists of a polycentric structure in passive mode for low-torque activities and a single-axis structure in active mode for high-torque activities. A novel mode transition mechanism controls self-holding electromagnets for switching modes between the four-bar linkage and single-axis structure. Compared with the conventional single-axis hy...Show More

Design and Validation of a Polycentric Hybrid Knee Prosthesis With Electromagnet-Controlled Mode Transition

Xu Wang;Haohua Xiu;Yao Zhang;Wei Liang;Wei Chen;Guowu Wei;Lei Ren;Luquan Ren

Year: 2022 | Volume: 7, Issue: 4 | Journal Article |

From Skin Mechanics to Tactile Neural Coding: Predicting Afferent Neural Dynamics During Active Touch and Perception

Yuyang Wei;Francis P McGlone;Andrew G Marshall;Adarsh Makdani;Zhenmin Zou;Lei Ren;Guowu Wei

IEEE Transactions on Biomedical Engineering
Year: 2022 | Volume: 69, Issue: 12 | Journal Article |
Cited by: Papers (7)
First order cutaneous neurons allow object recognition, texture discrimination, and sensorimotor feedback. Their function is well-investigated under passive stimulation while their role during active touch or sensorimotor control is understudied. To understand how human perception and sensorimotor controlling strategy depend on cutaneous neural signals under active tactile exploration, the finite ...Show More

From Skin Mechanics to Tactile Neural Coding: Predicting Afferent Neural Dynamics During Active Touch and Perception

Yuyang Wei;Francis P McGlone;Andrew G Marshall;Adarsh Makdani;Zhenmin Zou;Lei Ren;Guowu Wei

Year: 2022 | Volume: 69, Issue: 12 | Journal Article |

Reproduction of the Mechanical Behavior of Ligament and Tendon for Artificial Joint Using Bioinspired 3D Braided Fibers

Xuewei Lu;Lei Ren;Kunyang Wang;Guowu Wei;Zhihui Qian;Wei Liang;Luquan Ren

IEEE Transactions on Neural Systems and Rehabilitation Engineering
Year: 2022 | Volume: 30 | Journal Article |
Cited by: Papers (4)
The level of joint laxity, which is an indicator of accurate diagnosis for musculoskeletal conditions is manually determined by a physician. Studying joint laxity via artificial joints is an efficient and economical way to improve patient experience and joint proficiency. However, most of study focus on the joint geometry but are inadequate with regard to the tailored mechanical properties of soft...Show More

Reproduction of the Mechanical Behavior of Ligament and Tendon for Artificial Joint Using Bioinspired 3D Braided Fibers

Xuewei Lu;Lei Ren;Kunyang Wang;Guowu Wei;Zhihui Qian;Wei Liang;Luquan Ren

Year: 2022 | Volume: 30 | Journal Article |

Biomechanical Analysis of the Effect of the Finger Extensor Mechanism on Hand Grasping Performance

Yuyang Wei;Zhenmin Zou;Zhihui Qian;Lei Ren;Guowu Wei

IEEE Transactions on Neural Systems and Rehabilitation Engineering
Year: 2022 | Volume: 30 | Journal Article |
Cited by: Papers (5)
Quantifying the effect of routing and topology of the inter-connected finger extensor mechanism on hand grasping performances is a long-standing research problem for the better clinical diagnosis, surgical planning and biomimetic hand development. However, it is technically demanding to measure the hand performance parameters such as the contact forces and contact area during hand manipulation. It...Show More

Biomechanical Analysis of the Effect of the Finger Extensor Mechanism on Hand Grasping Performance

Yuyang Wei;Zhenmin Zou;Zhihui Qian;Lei Ren;Guowu Wei

Year: 2022 | Volume: 30 | Journal Article |

Dynamic Modelling and Simulation of a Deployable Quadrotor

Haohua Xiu;Tao Xu;Anthony H. Jones;Guowu Wei;Lei Ren;Jian S. Dai

2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR)
Year: 2018 | Conference Paper |
Cited by: Papers (2)
This paper for the first time presents a deployable quadrotor based on a deployable hexahedral mechanism. Structure design of the proposed deployable quadrotor is introduced and mobility and kinematics of the associated deployable hexahedral mechanism are briefly addressed. Then kinematics and dynamics of the proposed deployable quadrotor are established and the results are verified through numeri...Show More

Dynamic Modelling and Simulation of a Deployable Quadrotor

Haohua Xiu;Tao Xu;Anthony H. Jones;Guowu Wei;Lei Ren;Jian S. Dai

Year: 2018 | Conference Paper |

A reconfigurable quadcopter with foldable rotor arms and a deployable carrier

Haohua Xiu;Tao Xu;Anthony H. Jones;Guowu Wei;Lei Ren

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2017 | Conference Paper |
Cited by: Papers (5)
This paper presents for the first time a reconfigurable quadcopter with foldable rotor arms and a deployable carrier. Structure design of the proposed quadcopter is presented and dynamic model of the whole system is established. Numerical simulation is then implemented illustrating manoeuvrability and stability of the proposed quadcopter. Further, using FEA method structure analysis of the reconfi...Show More

A reconfigurable quadcopter with foldable rotor arms and a deployable carrier

Haohua Xiu;Tao Xu;Anthony H. Jones;Guowu Wei;Lei Ren

Year: 2017 | Conference Paper |

Prehension analysis and manipulability of an anthropomorphic metamorphic hand with a reconfigurable palm

Guowu Wei;Vahid Aminzadeh;Jian S Dai

2011 IEEE International Conference on Robotics and Biomimetics
Year: 2011 | Conference Paper |
Cited by: Papers (5)
This paper presents a novel anthropomorphic metamorphic hand with a reconfigurable palm. Structure of the metamorphic hand is briefly introduced, followed by prehension analysis based on the opposition-space model. Manipulability of the hand is then studied combining the characteristic matrix equation and singular value decomposition, leading to the explicit symbolic closed-form solutions. Further...Show More

Prehension analysis and manipulability of an anthropomorphic metamorphic hand with a reconfigurable palm

Guowu Wei;Vahid Aminzadeh;Jian S Dai

Year: 2011 | Conference Paper |

Topology represention and analysis of carton manipulation

Guowu Wei;Ruirui Zhang;Jian S Dai

2010 11th International Conference on Control Automation Robotics & Vision
Year: 2010 | Conference Paper |
This paper presents models for description and identification of various cartons in their discrete states, and proposes a new approach to describe the transformation of configuration states during carton manipulation in a packaging process. The method makes use of matrix operations which can be used to identify and model the steps and changes in carton manipulation at different stages of a packagi...Show More

Topology represention and analysis of carton manipulation

Guowu Wei;Ruirui Zhang;Jian S Dai

Year: 2010 | Conference Paper |

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