Analysis and Design of Robotic Systems

Overview

Current work involves the design, analysis, and experimental characterization of a robotic hand. Each finger is a 3-DoF mechanism driven finger with both abduction and adduction. 

Papers

1. N. Baiata and N. Chakraborty, ``Experimental Characterization of Fingertip Trajectory Following for a 3-DoF Series-Parallel Hybrid Robotic Finger", Proceedings of the 50th Mechanisms and Robotics (MR) Conference, ASME IDETC, Houston, TX, USA, August 2026.

2. T. Zaw, D. Mahalingam, N. Baiata, A. Patankar, and N. Chakraborty, ``Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands", Transactions of the ASME, Journal of Mechanisms and Robotics, 17(4): 044512, April 2025.

3. J. Xie, C. Bi, D. Cappelleri, and N. Chakraborty, ``Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots",  Transactions of the ASME, Journal of Mechanisms and Robotics, 13(4):041001, August, 2021.

4. A. Sinha and N. Chakraborty, ``Robust Relative Hand Placement for Bimanual Tasks", Proceedings of the ASME IDETC and 44th Mechanisms and Robotics (MR) Conference, St. Louis, MO, August, 2020.

5. A. Sinha and N. Chakraborty, ``Computing Robust Inverse Kinematics Under Uncertainty", Proceedings of the ASME IDETC and 43rd Mechanisms and Robotics (MR) Conference, Anaheim, CA, August, 2019.

6. A. Sinha and N. Chakraborty, ``Geometric Search Based Inverse Kinematics of 7-DoF Redundant Manipulator with Multiple Joint Offsets", IEEE International Conference on Robotics and Automation (ICRA),Montreal, May, 2019.

7. N. Chakraborty and A.Ghosal, ``Dynamic Modeling and Simulation of a Wheeled Mobile Robot for Traversing Uneven Terrain without Slip'', Transactions of the ASME, Journal of Mechanical Design, Vol. 127, No. 5, pp. 901-909, September 2005 . 

8. N. Chakraborty and A. Ghosal, ``Kinematics of Wheeled Mobile Robots on Uneven Terrain'', Mechanisms and Machine Theory, Vol. 39, No. 2, pp. 1273-1287, December 2004.