Robotic Grasping & Manipulation

Papers

  1. John Morrow*, Nuha Nishat*, Joshua Campbell*, Ravi Balasubramanian, Cindy Grimm, Grasping Benchmarks: Normalizing for Object Size & Approximating Hand Workspaces.

    Available here

  2. Nigel Swenson, Garrett Scott, Peter Bloch, Paresh Soni, Nuha Nishat, Anjali Asar, Cindy Grimm, Xiaoli Fern, Ravi Balasubramanian, Improving Grasp Classification through Spatial Metrics Available from Sensors, (Published ICRA 2021)

    Available here

Master’s Thesis

Contour Following by Human-safe Cobots Using Real-time Vision and Force Feedback with Workpiece Location Uncertainty

  • Overview - Developed a universal Cartesian robot arm controller utilizing external vision and force sensor feedback

  • Achievements - Successfully reduced motion error by 50%, enhancing robotic precision in following complex 3D contours