6 papers
Actuator-Aware Spatiotemporal Tube Synthesis for Temporal Reach-Avoid-Stay Tasks
Keshab Patra, K Madhava Krishna
This work proposes an actuator-aware spatiotemporal tube (STT) synthesis framework to accomplish temporal reach-avoid-stay (T-RAS) tasks for an unknown nonlinear multi-input and mu…
Task Capability Improvement Algorithm for Collaborative Manipulators
Keshab Patra, Arpita Sinha, Anirban Guha
This work introduces a cooperative task capability improvement utilizing additional moments. The manipulators apply forces at the object's grasp point. Applying forces at a point o…
Motion Planning of Cooperative Nonholonomic Mobile Manipulators
Keshab Patra, Arpita Sinha, Anirban Guha
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our g…
DART: Learning-Enhanced Model Predictive Control for Dual-Arm Non-Prehensile Manipulation
Autrio Das, Shreya Bollimuntha, Madala Venkata Renu Jeevesh +5
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplif…
Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators
Keshab Patra, Arpita Sinha, Anirban Guha
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner co…
DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps
Md Faizal Karim, Vignesh Vembar, Keshab Patra +2
Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. P…