Zobrazeno 1 - 10
of 100
pro vyhledávání: '"Doshi, Neel"'
We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are both well studied, co-optimizing grasps and the gripper geometry to exec
Externí odkaz:
http://arxiv.org/abs/2310.18425
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We further develop
Externí odkaz:
http://arxiv.org/abs/2310.00798
We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration constrain
Externí odkaz:
http://arxiv.org/abs/2203.01203
Autor:
Doshi, Neel, Bandyopadhyay, Soham, Green, Madeline, Richardson, Edward, Komber, Ahmad, Chen, Si Emma, Shah, Rahul, Lakhoo, Kokila
Publikováno v:
In Journal of Pediatric Surgery August 2024 59(8):1477-1485
A majority of microrobots are constructed using compliant materials that are difficult to model analytically, limiting the utility of traditional model-based controllers. Challenges in data collection on microrobots and large errors between simulated
Externí odkaz:
http://arxiv.org/abs/2104.00631
Autor:
Doshi, Neel1 (AUTHOR), Gond, Pratik1 (AUTHOR), Prasad, Tanisha2 (AUTHOR), Shrestha, Abhigan Babu3 (AUTHOR) abigan17@gmail.com
Publikováno v:
Clinical Case Reports. Apr2024, Vol. 12 Issue 4, p1-4. 4p.
Autor:
McGregor, Lindsay, Doshi, Neel
Publikováno v:
Harvard Business Review Digital Articles. 6/28/2024, p1-7. 7p.
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of these primitives is challenging as they are hybrid, under-actuated, an
Externí odkaz:
http://arxiv.org/abs/1911.00175
Autor:
Doshi, Neel, Jayaram, Kaushik, Goldberg, Benjamin, Manchester, Zachary, Wood, Robert J., Kuindersma, Scott
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often driven by
Externí odkaz:
http://arxiv.org/abs/1901.09065
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the development of
Externí odkaz:
http://arxiv.org/abs/1901.08715