7 papers
DG16M: A Large-Scale Dataset for Dual-Arm Grasping with Force-Optimized Grasps
Md Faizal Karim, Mohammed Saad Hashmi, Shreya Bollimuntha +4
Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets t…
DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi +6
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for comp…
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
Gaurav Singh, Sanket Kalwar, Md Faizal Karim +4
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents…
Predictive Barrier Lyapunov Function Based Control for Safe Trajectory Tracking of an Aerial Manipulator
Vedant Mundheda, Karan Mirakhor, Rahul K S +2
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown boun…
Modular Pipe Climber III with Three-Output Open Differential
Rama Vadapalli, Saharsh Agarwal, Vishnu Kumar +3
The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sectio…
Design And Analysis Of Three-Output Open Differential with 3-DOF
Rama Vadapalli, Nagamanikandan Govindan, K Madhava Krishna
This paper presents a novel passive three-output differential with three degrees of freedom (3DOF), that translates motion and torque from a single input to three outputs. The prop…
Design and Analysis of Modular Pipe Climber-III with a Multi-Output Differential Mechanism
Vishnu Kumar, Saharsh Agarwal, Rama Vadapalli +2
This paper presents the design of an in-pipe climbing robot that operates using a novel `Three-output open differential'(3-OOD) mechanism to traverse complex networks of pipes. Con…