8 papers
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…
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…