Dr. Weifu Wang

Weifu Wang

Robotics, motion planning, manipulation

The World Within Reach

 

Education

Ph.D., Computer Science, Dartmouth, 2016 

B.S., Software Engineering, Minor in Business Administration and Management, Nanjing University, 2010

Research Interests

Dr. Wang’s research interests include general motion planning for robots, optimal control, robotic manipulation, and mechanism design. He recently has been working on developing approaches for robotic knot tying using simple devices, models, and controls. This work is funded by NSF and has applications to medical robotics and deformable object manipulation, including automated suturing.  Please visit http://www.albany.edu/~ww474736/#research to read more about his research. 

Publications

Weifu Wang, Devin Balkcom:    Grasping and folding knots. IEEE International Conference on Robotics and Automation (ICRA). 2016.  

Weifu Wang, Devin Balkcom:   Tying knots precisely. IEEE International Conference on Robotics and Automation (ICRA). 2016. (Finalist for best manipulation paper.)  

Weifu Wang, Devin Balkcom:   Towards arranging and tightening knots and unknots with fixtures.  IEEE Transactions on Automation Science and Engineering 12(4): (2015)  

Devin Balkcom, Ajay Kannan, Yu-Han Lyu, Weifu Wang, Yinan Zhang:  Metric cells: towards complete search for optimal trajectories.  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015.

Weifu Wang, Dmitry Berenson, Devin Balkcom: An online method for tight-tolerance insertion tasks for string and rope.  IEEE International Conference on Robotics and Automation (ICRA). 2015.  

Weifu Wang, Devin Balkcom, Amit Chakrabarti:  A fast online spanner for roadmap construction.  International Journal of Robotics Research (2015)  

Yu-Han Lyu, Andrei A. Furtuna, Weifu Wang, Devin Balkcom:   The bench mover's problem: minimum-time trajectories, with cost for switching between controls.   IEEE International Conference on Robotics and Automation (ICRA). 2014.  

Matthew P. Bell, Weifu Wang (co-first author), Jordan Kunzika, Devin Balkcom: Knot-tying with four-piece fixtures.   International Journal of Robotics Research 33(11): 1481—1489 (2014)  

Weifu Wang, Matthew Bell, Devin Balkcom:  Towards arranging and tightening knots and unknots with fixtures.  Algorithmic Foundations of Robotics (WAFR). 2014.  

Weifu Wang, Devin Balkcom, Amit Chakrabarti:   A fast streaming spanner algorithm for incrementally constructing sparse roadmaps.  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2013.  

Andrei A. Furtuna, Weifu Wang, Yu-Han Lyu, Devin Balkcom:  Structure and geometry of minimum-time trajectories for planar rigid bodies.  Allerton Conference on Communication, Control, and Computing. 2013.

Weifu Wang, Devin Balkcom:   Sampling extremal trajectories for planar rigid bodies. Algorithmic Foundations of Robotics (WAFR). 2012.  

Weifu Wang, Devin Balkcom: Analytical time-optimal trajectories for an omni-directional vehicle.  IEEE International Conference on Robotics and Automation (ICRA). 2012.  

Andrei A. Furtuna, Wenyu Lu, Weifu Wang, Devin Balkcom:   Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2011.