1 citations · 1 across the 15 of their papers we have counts for
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Demonstration-Based Robotic Feeding Using Dynamic Movement Primitives
Kenzhi Iskandar Wong, Kitti Thamrongaphichartkul, Sri Harsha Turlapati +10
This paper presents a demonstration-based robotic feeding framework that integrates human demonstration, Dynamic Movement Primitive-based motion planning, vision-based scene percep…
Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback
Amit Kumar, Sri Harsha Turlapati, Gautami Golani +3
In this work, we propose a haptic update control law that uses reaction torques to correct axial misalignment during robotic valve manipulation. Unlike vision-based estimates, whic…
Anatomy of Uncertainty: Expressive Descriptors of Robot Motion for Nonverbal Human-Robot Communication
Ridhima Bector, Souravik Dutta, Poornima Ramachandran +4
Robots working alongside humans must communicate their intended actions together with the uncertainty that arises from incomplete or ambiguous perception. This paper introduces a m…
Wrench-Based Bayesian Pose Estimation via Matrix--Fisher Gaussian Inference
Jianyu Chen, Lin Yang, Yibang Li +2
In this paper, a residual-safeguarded local Matrix Fisher--Gaussian (MFG) inference method is developed for wrench-based pose estimation on . The…
Haptic Sorter: A Unified Planning Framework for Online Shape Estimation and Real-Time Pose Inference
Zhuoyi Lu, Lin Yang, Sri Harsha Turlapati +1
Robotics manipulation usually assumes that the shape and pose of the object are known to the robot prior to motion planning. However, precise geometric information is not always av…
Adaptive Manipulation Potential and Haptic Estimation for Tool-Mediated Interaction
Lin Yang, Anirvan Dutta, Yuan Ji +5
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing…
Whole-body motion planning and safety-critical control for aerial manipulation
Lin Yang, Jinwoo Lee, Domenico Campolo +2
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feas…
Recasting Classical Motion Planning for Contact-Rich Manipulation
Lin Yang, Huu-Thiet Nguyen, Chen Lv +1
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate…
A Planning Framework for Stable Robust Multi-Contact Manipulation
Lin Yang, Sri Harsha Turlapati, Zhuoyi Lu +2
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optim…
Haptic-based Complementary Filter for Rigid Body Rotations
Amit Kumar, Domenico Campolo, Ravi N. Banavar
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic in…
Sensorized gripper for human demonstrations
Sri Harsha Turlapati, Gautami Golani, Mohammad Zaidi Ariffin +1
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to…
Generalizing Robot Trajectories from Single-Context Human Demonstrations: A Probabilistic Approach
Qian Ying Lee, Suhas Raghavendra Kulkarni, Kenzhi Iskandar Wong +4
Generalizing robot trajectories from human demonstrations to new contexts remains a key challenge in Learning from Demonstration (LfD), particularly when only single-context demons…
Path Planning in Complex Environments with Superquadrics and Voronoi-Based Orientation
Lin Yang, Ganesh Iyer, Baichuan Lou +3
Path planning in narrow passages is a challenging problem in various applications. Traditional planning algorithms often face challenges in complex environments like mazes and trap…
Planning for quasi-static manipulation tasks via an intrinsic haptic metric: a book insertion case study
Lin Yang, Sri Harsha Turlapati, Chen Lv +1
Contact-rich manipulation often requires strategic interactions with objects, such as pushing to accomplish specific tasks. We propose a novel scenario where a robot inserts a book…
Control of a pendulum system: From simulation to reality
Iyer Venkataraman Natarajan
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. Thes…