6 papers · 1 filter
PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views
Ayush Kaura, Vignesh Vembar, Md Faizal Karim +2
Dual-arm robotic grasping is essential for manipulating large, heavy, and geometrically complex objects that cannot be reliably handled using a single manipulator. These large obje…
Task Capability Improvement Algorithm for Collaborative Manipulators
Keshab Patra, Arpita Sinha, Anirban Guha
This work introduces a cooperative task capability improvement utilizing additional moments. The manipulators apply forces at the object's grasp point. Applying forces at a point o…
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…
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…
Motion Planning of Cooperative Nonholonomic Mobile Manipulators
Keshab Patra, Arpita Sinha, Anirban Guha
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our g…
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…