11 papers
Manipulation Planning for Construction Activities with Repetitive Tasks
Wangyi Liu, Dasharadhan Mahalingam, Fanru Gao +2
In this paper, we study the problem of manipulation skill acquisition for performing construction activities consisting of repetitive tasks (e.g., building a wall or installing cei…
Robotic Nanoparticle Synthesis via Solution-based Processes
Dasharadhan Mahalingam, Michael Gallagher, Nilanjan Chakraborty +1
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite…
A Unified Complementarity-based Approach for Rigid-Body Manipulation and Motion Prediction
Bingkun Huang, Xin Ma, Nilanjan Chakraborty +1
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (loca…
Transferring Kinesthetic Demonstrations across Diverse Objects for Manipulation Planning
Dibyendu Das, Aditya Patankar, Nilanjan Chakraborty +2
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving obje…
Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger
Nicholas Baiata, Nilanjan Chakraborty
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and app…
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny +2
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have…