1 citations · 1 across the 5 of their papers we have counts for
5 papers
Trajectory Optimization for Self-Wrap-Aware Cable-Towed Planar Object Manipulation under Implicit Tension Constraints
Yu Li, Amin Fakhari, Hamid Sadeghian
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are de…
Motion Planning for Object Manipulation by Edge-Rolling
Maede Boroji, Vahid Danesh, Imin Kao +1
A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical…
Development of a Novel Impedance-Controlled Quasi-Direct-Drive Robotic Hand
Jay Best, Amin Fakhari
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the…
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…
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…