5 papers · 1 filter
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…