2 papers
cs.RO2021
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…
cs.RO2020
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…