3 papers
cs.RO2026
DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation
Autrio Das, Shreya Bollimuntha, Madala Venkata Renu Jeevesh +5
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplif…
cs.RO2025
DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps
Md Faizal Karim, Vignesh Vembar, Keshab Patra +2
Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. P…
cs.RO2024
Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators
Keshab Patra, Arpita Sinha, Anirban Guha
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner co…