3 citations · 3 across the 13 of their papers we have counts for
14 papers
Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion
Dasharadhan Mahalingam, Nilanjan Chakraborty
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We c…
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
Riddhiman Laha, Ruiai Sun, Wenxi Wu +4
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement…
Computing a Task-Dependent Grasp Metric Using Second Order Cone Programs
Amin Fakhari, Aditya Patankar, Jiayin Xie +1
Evaluating a grasp generated by a set of hand-object contact locations is a key component of many grasp planning algorithms. In this paper, we present a novel second order cone pro…
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…
Motion and Force Planning for Manipulating Heavy Objects by Pivoting
Amin Fakhari, Aditya Patankar, Nilanjan Chakraborty
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate h…
Rigid Body Dynamic Simulation with Line and Surface Contact
Jiayin Xie, Nilanjan Chakraborty
In this paper, we develop a principled method to model line and surface contact with point contact (we call this point, equivalent contact point) that is consistent with physics-ba…
Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
Jiayin Xie, Chenghao Bi, David J. Cappelleri +1
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict t…
Modeling and Prediction of Rigid Body Motion with Planar Non-Convex Contact
Jiayin Xie, Nilanjan Chakraborty
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex…
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…
Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
Jiayin Xie, Chenghao Bi, David J. Cappelleri +1
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or perf…
Rigid Body Motion Prediction with Planar Non-convex Contact Patch
Jiayin Xie, Nilanjan Chakraborty
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non…
Rigid Body Dynamic Simulation with Multiple Convex Contact Patches
Jiayin Xie, Nilanjan Chakraborty
We present a principled method for dynamic simulation of rigid bodies in intermittent contact with each other where the contact is assumed to be a non-convex contact patch that can…
Dynamic Model of Planar Sliding
Jiayin Xie, Nilanjan Chakraborty
In this paper, we present a principled method to model general planar sliding motion with distributed convex contact patch. The effect of contact patch with indeterminate pressure…