3 papers
cs.RO2026
Utilizing Inpainting for Keypoint Detection for Vision-Based Control of Robotic Manipulators
Sreejani Chatterjee, Venkatesh Mullur, Abhinav Gandhi +1
We present a novel visual servoing framework for controlling a robotic manipulator in configuration space using only natural visual features. To train our data-driven keypoint dete…
cs.RO2026
3D Shape Control of Extensible Multi-Section Soft Continuum Robots via Visual Servoing
Abhinav Gandhi, Shou-Shan Chiang, Cagdas D. Onal +1
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vi…
cs.RO2025
Image-Based Roadmaps for Vision-Only Planning and Control of Robotic Manipulators
Sreejani Chatterjee, Abhinav Gandhi, Berk Calli +1
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vi…