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