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…