1 citations · 1 across the 6 of their papers we have counts for
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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…
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…