Circular Image

R. Prakash

4 records found

Authored

This paper proposes a novel optimal control scheme for constrained image based visual servoing of a robot manipulator. For a robot manipulator with an eye-on-hand configuration, visibility constraint is an essential requirement to avoid servo failure, while robot's actuator li ...

Real-time optimal path planning for robotic manipulations in task space is a very fundamental and important problem. In this paper, the problem of generating robot trajectories in an obstacle-ridden environment is formulated under an optimal control framework using Hamilton-Ja ...

Contributed

This paper presents a hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior primitives with variable stiffness control capabilities for contact tasks. ...
Grocery e-commerce has been rapidly increasing in recent years, posing a new challenge for retailers as groceries, unlike other goods, have a limited shelf life. Thus, customers expect their orders to arrive quickly and undamaged. Currently, most processes between a customer plac ...