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Manipulation Planning for Construction Activities with Repetitive Tasks
Wangyi Liu, Dasharadhan Mahalingam, Fanru Gao +2
In this paper, we study the problem of manipulation skill acquisition for performing construction activities consisting of repetitive tasks (e.g., building a wall or installing cei…
Robotic Nanoparticle Synthesis via Solution-based Processes
Dasharadhan Mahalingam, Michael Gallagher, Nilanjan Chakraborty +1
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite…
Synthesizing Grasps and Regrasps for Complex Manipulation Tasks
Aditya Patankar, Dasharadhan Mahalingam, Nilanjan Chakraborty
In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefo…
A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
Dasharadhan Mahalingam, Aditya Patankar, Riddhiman Laha +3
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due t…
Containerized Vertical Farming Using Cobots
Dasharadhan Mahalingam, Aditya Patankar, Khiem Phi +3
Containerized vertical farming is a type of vertical farming practice using hydroponics in which plants are grown in vertical layers within a mobile shipping container. Space limit…
Task-Oriented Grasping with Point Cloud Representation of Objects
Aditya Patankar, Khiem Phi, Dasharadhan Mahalingam +2
In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a gr…