3 papers
cs.RO2021
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…
cs.RO2020
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…
cs.RO2019
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…