4 papers
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
Haowen Yao, Riddhiman Laha, Anirban Sinha +4
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with c…
Task Space Planning with Complementarity Constraint-based Obstacle Avoidance
Anirban Sinha, Anik Sarker, Nilanjan Chakraborty
In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our k…
Robust Relative Hand Placement For Bi-Manual Tasks
Anirban Sinha, Nilanjan Chakraborty
In many bi-manual robotic tasks, like peg-in-a-hole assembly, the success of the task execution depends on the error in achieving the desired relative pose between the peg and the…
Computing Robust Inverse Kinematics Under Uncertainty
Anirban Sinha, Nilanjan Chakraborty
Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inhere…