3 citations · 3 across the 13 of their papers we have counts for
Showing 2019Show all
3 papers · 1 filter
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…
cs.RO2019
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…
cs.RO2019
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…