Transferring Kinesthetic Demonstrations across Diverse Objects for Manipulation Planning
Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Publications
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Synthesizing Grasps and Regrasps for Complex Manipulation Tasks
Accepted in IEEE International Conference on Robotics and Automation (ICRA), 2025
Recommended citation: A. Patankar, D. Mahalingam, N. Chakraborty. Synthesizing Grasps and Regrasps for Complex Manipulation Task. IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, 2025.
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Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands
Published in ASME Journal of Mechanisms and Robotics, 2025
Recommended citation: T. Zaw, D. Mahalingam, N. Baiata, A. Patankar, N. Chakraborty. Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands. Journal of Mechanisms and Robotics, ASME 2025.
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Screw Geometry meets Bandits: Incremental Acquisition of Demonstrations for Generating Manipulation Plans
Under Review
A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Recommended citation: D. Mahalingam, A. Patankar, R. Laha, S. Lakshminarayanan, S. Haddadin and N. Chakraborty. A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, 2024.
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Containerized Vertical Farming using Cobots
Published in IEEE International Conference on Robotics and Automation (ICRA), 2024
Recommended citation: D. Mahalingam, A. Patankar, K. Phi, N. Chakraborty, R. McGann and I.V. Ramakrishnan. Containerized Vertical Farming Using Cobots. IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024.
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Task-Oriented Grasping with Point Cloud Representation of Objects
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Recommended citation: 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.
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Screw Geometry meets Bandits: Incremental Acquisition of Demonstrations for Generating Manipulation Plans
Published in Late Breaking Results Poster, Manipulation and Grasping Session, IROS, 2023
Recommended citation: D. Das, A. Patankar, N. Chakraborty, C.R. Ramakrishnan and I.V. Ramakrishnan. Screw Geometry meets Bandits: Incremental Acquisition of Demonstrations for Generating Manipulation Plans. Late Breaking Results Poster, Manipulation and Grasping Session, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023.
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Caregiver-Guided Robotic Manipulation to Promote Independence of People with Significant Locomotor Disability
Published in Workshop on Assistive Robotics for Citizens, IROS, 2023
Recommended citation: 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.
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Knowledge-Enabled Motion Generation for Complex Manipulation Tasks
Published in Workshop on Geometric Representations: The Roles of Screw Theory, Lie Algebra, and Geometric Algebra, ICRA, 2023
Recommended citation: D. Das, A. Patankar, F. Honda, D. Mahalingam, N. Chakraborty, C.R. Ramakrishnan and I.V. Ramakrishnan. Knowledge-Enabled Motion Generation for Complex Manipulation Tasks. Workshop on Geometric Representations: The Roles of Screw Theory, Lie Algebra, and Geometric Algebra, IEEE International Conference on Robotics and Automation (ICRA) 2023.
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Motion and Force Planning for Manipulating Heavy Objects by Pivoting
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Recommended citation: 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.
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Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Recommended citation: 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.
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Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Recommended citation: 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.
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