Analysis and Design of Robotic Systems

Overview

Papers

1. 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.

2. 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.

3. 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.

4. 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.

5. 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 .

6. 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.