My PhD research focuses on task-oriented grasping from sensor data. There are a few key aspects to this problem: the first one is the mathematical definition of a task, the second key aspect is using this definition of a task, how do we formalise the notion of grasping to perform a task, and the last part is incorporating noisy sensor data in the form of partial point clouds from an RGBD camera. In our work, we define a task as a constant screw motion or a sequence of constant screw motions to be specific. Using this definition of a task, we have developed a task-dependent grasp metric as a second-order cone program which evaluates the feasibility of object-robot contact locations to impart a specific constant screw motion. We have developed algorithmic approaches which use this notion of a task and a grasp to perform grasp synthesis on point cloud data using its simplest possible geometric representation i.e. a bounding box.
Related Papers:
A. Patankar, K.Phi, D. Mahalingam, N. Chakraborty and I.V. Ramakrishnan. Task-Oriented Grasping with Point Cloud Representation of Objects. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, US, 2023.
D. Mahalingam, A. Patankar, D. Das, N. Chakraborty, C.R. Ramakrishnan and I.V. Ramakrishnan. Caregiver-Guided Robotic Manipulation to Promote Independence of People with Significant Locomotor Disability. Workshop on Assistive Robotics for Citizens, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023.
A. Fakhari, A. Patankar, J.Xie and N. Chakraborty. Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021.
A. Fakhari, A. Patankar and N. Chakraborty. Motion and Force Planning for Manipulating Heavy Objects by Pivoting. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021.
A. Patankar, A. Fakhari and N. Chakraborty. Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020.