1 citations · 1 across the 6 of their papers we have counts for
8 papers
Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations
Hyojae Park, Arjun S. Lakshmipathy, Nancy S. Pollard
We present a straightforward but effective method for repurposing existing contact-rich dexterous manipulation demonstrations. Starting from inputs of hand and object trajectories,…
High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
Arjun S. Lakshmipathy, Jonathan P. King, Ethan Zuo +6
Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the safety and reliability required for complex, sustained physical interac…
Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation
Sunyu Wang, Arjun S. Lakshmipathy, Jean Oh +1
Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on…
PICO: Reconstructing 3D People In Contact with Objects
Alpár Cseke, Shashank Tripathi, Sai Kumar Dwivedi +4
Recovering 3D Human-Object Interaction (HOI) from single color images is challenging due to depth ambiguities, occlusions, and the huge variation in object shape and appearance. Th…
Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations
Arjun S. Lakshmipathy, Jessica K. Hodgins, Nancy S. Pollard
Hand motion capture data is now relatively easy to obtain, even for complicated grasps; however this data is of limited use without the ability to retarget it onto the hands of a s…
Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions
Arjun S. Lakshmipathy, Nicole Feng, Yu Xi Lee +2
Posing high-contact interactions is challenging and time-consuming, with hand-object interactions being especially difficult due to the large number of degrees of freedom (DOF) of…
Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Hands
Dominik Bauer, Cornelia Bauer, Arjun Lakshmipathy +2
The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have accelerated the fabrication process significantly…
Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations
Arjun Lakshmipathy, Dominik Bauer, Cornelia Bauer +1
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact sha…