1 citations · 1 across the 12 of their papers we have counts for
13 papers
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…
A Unified Complementarity-based Approach for Rigid-Body Manipulation and Motion Prediction
Bingkun Huang, Xin Ma, Nilanjan Chakraborty +1
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (loca…
Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger
Nicholas Baiata, Nilanjan Chakraborty
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and app…
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny +2
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have…
Transferring Kinesthetic Demonstrations across Diverse Objects for Manipulation Planning
Dibyendu Das, Aditya Patankar, Nilanjan Chakraborty +2
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving obje…
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…
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
Haowen Yao, Riddhiman Laha, Anirban Sinha +4
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with c…
Screw Geometry Meets Bandits: Incremental Acquisition of Demonstrations to Generate Manipulation Plans
Dibyendu Das, Aditya Patankar, Nilanjan Chakraborty +2
In this paper, we study the problem of methodically obtaining a sufficient set of kinesthetic demonstrations, one at a time, such that a robot can be confident of its ability to pe…
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…
Provable Methods for Searching with an Imperfect Sensor
Nilanjan Chakraborty, Prahlad Narasimhan Kasthurirangan, Joseph S. B. Mitchell +2
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capab…
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…