4 papers
Bab_Sak Robotic Intubation System (BRIS): A Learning-Enabled Control Framework for Safe Fiberoptic Endotracheal Intubation
Saksham Gupta, Sarthak Mishra, Arshad Ayub +3
Endotracheal intubation is a critical yet technically demanding procedure, with failure or improper tube placement leading to severe complications. Existing robotic and teleoperate…
AERMANI-Diffusion: Regime-Conditioned Diffusion for Dynamics Learning in Aerial Manipulators
Samaksh Ujjawal, Shivansh Pratap Singh, Naveen Sudheer Nair +3
Aerial manipulators undergo rapid, configuration-dependent changes in inertial coupling forces and aerodynamic forces, making accurate dynamics modeling a core challenge for reliab…
Adaptive Lattice-based Motion Planning
Abhishek Dhar, Sarthak Mishra, Spandan Roy +1
This paper proposes an adaptive lattice-based motion planning solution to address the problem of generating feasible trajectories for systems, represented by a linearly parameteriz…
Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics
Amitabh Sharma, Saksham Gupta, Shivansh Pratap Singh +5
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved v…