Zobrazeno 1 - 9
of 9
pro vyhledávání: '"Nikhil Chavan-Dafle"'
Publikováno v:
Sage
In this article, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the horizontal
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e412ceacc1d357606a773037f49b75dd
https://doi.org/10.1177/0278364919880257
https://doi.org/10.1177/0278364919880257
Publikováno v:
IROS
We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to transition between free-rotating and fixed (i.e., br
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2913978d267aaa285ab38da809ef3af0
https://doi.org/10.1109/iros45743.2020.9340751
https://doi.org/10.1109/iros45743.2020.9340751
Autor:
Nikhil Chavan-Dafle, Alberto Rodriguez
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783030286187
ISRR
ISRR
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics solver, effect
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0cd2ac5de1d0a3c9546dbeac36bccaaf
https://doi.org/10.1007/978-3-030-28619-4_39
https://doi.org/10.1007/978-3-030-28619-4_39
Autor:
Alberto Rodriguez, Nikhil Chavan-Dafle
Publikováno v:
ICRA
arXiv
arXiv
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::06fb5e8611b4b971355e3e0c2e3b9ea8
http://arxiv.org/abs/1710.11097
http://arxiv.org/abs/1710.11097
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783319501147
ISER
ISER
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions—linear sliding, pivoting, and rolling—that involve con
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bc3a7a33a0f605d5e43bec74973d44fb
https://doi.org/10.1007/978-3-319-50115-4_55
https://doi.org/10.1007/978-3-319-50115-4_55
Publikováno v:
MIT Web Domain
CASE
CASE
This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint contact, as t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d50ff19be6006d8b6fac3c176ee784ca
https://orcid.org/0000-0002-1119-4512
https://orcid.org/0000-0002-1119-4512
Autor:
Alberto Rodriguez, Nikhil Chavan-Dafle
Publikováno v:
IROS
This paper explores the manipulation of a grasped object by pushing it against its environment. Relying on precise arm motions and detailed models of frictional contact, prehensile pushing enables dexterous manipulation with simple manipulators, such
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a605372a1b6fd2bd8f2be35215482b4e
https://doi.org/10.1109/iros.2015.7354264
https://doi.org/10.1109/iros.2015.7354264
Autor:
Robert Paolini, Nikhil Chavan Dafle, Michael A. Erdmann, Ivan Lundberg, Alberto Rodriguez, Matthew T. Mason, Siddhartha S. Srinivasa, Bowei Tang, Harald Staab, Thomas A. Fuhlbrigge
Publikováno v:
Other univ. web domain
ICRA
ICRA
“In-hand manipulation” is the ability to reposition an object in the hand, for example when adjusting the grasp of a hammer before hammering a nail. The common approach to in-hand manipulation with robotic hands, known as dexterous manipulation [
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::16624c21acad54fcd4645575194d20e3
http://hdl.handle.net/1721.1/109430
http://hdl.handle.net/1721.1/109430
Autor:
Harald Staab, Bowei Tang, Robert Paolini, Matthew T. Mason, Nikhil Chavan Dafle, Michael A. Erdmann, Ivan Lundberg, Alberto Rodriguez, Siddhartha S. Srinivasa, Thomas A. Fuhlbrigge
Publikováno v:
ICRA
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::60f6d798604547f6537aa2421a5ebc98
https://doi.org/10.1109/icra.2014.6907218
https://doi.org/10.1109/icra.2014.6907218