6 citations · 7 across the 4 of their papers we have counts for
5 papers
Singularity Analysis for the Perspective-Four and Five-Line Problems
Jorge García Fontán, Abhilash Nayak, Sébastien Briot +1
This paper deals with image-based visual servoing and pose estimation by observing four and five lines. Our main interest is to determine the relative configurations of the camera…
C-space Analysis using Tropical Geometry
Abhilash Nayak
Configuration space~(C-space) of a mechanism is a real variety describing the set of feasible configurations that it can attain. To understand the behavior of a mechanism, it is cr…
A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation
Abhilash Nayak, Franco Coltraro, Maria Alberich-Carramiñana +1
This paper presents a grasping model for cloth manipulation specifically tailored to ease the deployment of robotic control methods. The model is robust, fast and easy to implement…
Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS
Durgesh Haribhau Salunkhe, Abhilash Nayak
The kinematic analysis of a generic 3R robot has been investigated with multiple approaches in the past. The algebraic approaches have established concrete results but are unfortun…
Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra
Abhilash Nayak, Durgesh Haribhau Salunkhe
The inverse kinematics of generic 3R robots has been investigated through multiple approaches, mainly algebraic methods involving the solution of certain equation sets. Previous ge…