1 citations · 1 across the 7 of their papers we have counts for
7 papers
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…
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…
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…
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…
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…