4 papers · 1 filter
Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure
Gilberto Briscoe-Martinez, Anuj Pasricha, Ava Abderezaei +4
This work explores non-prehensile manipulation (NPM) and whole-body interaction as strategies for enabling robotic manipulators to conduct manipulation tasks despite experiencing l…
Towards Super-Nominal Payload Handling: Inverse Dynamics Analysis for Multi-Skill Robotic Manipulation
Anuj Pasricha, Alessandro Roncone
Motion planning for articulated robots has traditionally been governed by algorithms that operate within manufacturer-defined payload limits. Our empirical analysis of the Franka E…
Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics
Ava Abderezaei, Anuj Pasricha, Alex Klausenstock +1
In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled co…
The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
Anuj Pasricha, Alessandro Roncone
In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot…