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Haptic-Based Complementary Filter for Rigid Body Rotations
Haptic-Based Complementary Filter for Rigid Body Rotations
Available on arXiv- [2504.14570] Haptic-based Complementary Filter for Rigid Body Rotations
Accepted at 23rd IFAC World Congress 2026, Busan, Republic of Korea
A. Kumar, D. Campolo, and R. Banavar
Abstract:
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense, not all learning-based algorithms that are currently available generalize to 3D orientation estimation. Non-linear filters defined on SO(3) are widely used with inertial measurement sensors; however, none of them have been used with haptic measurements. This paper presents a unique complementary filtering framework that interprets the geometric shape of objects in the form of superquadrics, exploits the symmetry of SO(3), and uses force and vision sensors as measurements to provide an estimate of orientation. The framework's robustness and almost global stability are substantiated by a set of experiments on a dual-arm robotic setup.
Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications
Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications
Social Robotics. ICSR + AI 2024. Lecture Notes in Computer Science(), vol 15561. Springer, Singapore
Pre-Print available here- https://doi.org/10.48550/arXiv.2412.15369
A. Kumar, J. Jose, A. Jain, S. Kulkarni, and K. Arya
Abstract:
With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months.
S. Singh, A. Kumar, F. P. Chemban, V. Fernandes, L. Penubaku, and K. Arya
Abstract:
Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size, payload restrictions, and computational capabilities. This paper proposes an approach for localization using off-board computing, an off-board monocular camera, and modified open-source algorithms. The proposed method uses three parallel proportional-integral-derivative controllers on the off-board computer to provide velocity corrections via wireless communication, stabilizing the NAV in a custom-controlled environment. Featuring a 3.1cm localization error and a modest setup cost of 50 USD, this approach proves optimal for environments where cost considerations are paramount. It is especially well-suited for applications like teaching drone control in academic institutions, where the specified error margin is deemed acceptable. Various applications are designed to validate the proposed technique, such as landing the NAV on a moving ground vehicle, path planning in a 3D space, and localizing multi-NAVs. The created package is openly available at https://github.com/simmubhangu/eyantra_drone to foster research in this field.
A. Sarkar, A. Pandey, A. Kumar, A. Furtado, K. Karia, and K. Arya
Abstract:
As the hands-on engineering education got severely affected by the lockdown due to the COVID-19 pandemic, the present study discusses how to adopt the Project-Based Learning (PBL) approach to teach complex engineering concepts in this tough time. In this paper, we have discussed the design of a gamified problem statement (using a robotic simulation environment called CoppeliaSim) which was used to teach complex engineering concepts like image processing, control systems, path planning, etc to undergraduate students by a pioneering initiative in engineering education. The study was implemented on 469 teams (1876 students) and explores how the use of a simulation environment impacts the overall performance of teams in completing the assigned problem statement. In addition to this, we have demonstrated the use of a leaderboard to increase learner engagement and motivation in completing the problem statement. Our work is useful to anyone seeking to use PBL to teach and/or learn complex engineering concepts.
S. Atar., S. Singh., S. Agrawal., R. Chaurasia., S. Sule., S. Gadamsetty., A. Panwar., A. Kumar., and K. Arya.
Abstract:
Perception techniques in novel times have enormously improved in autonomously and accurately predicting the ultimate states of the delivery robots. The precision and accuracy in recent research lead to high computation costs for autonomous locomotion and expensive sensors and server dependency. Low computational algorithms for delivery robots are more viable as compared to pipelines used in autonomous vehicles or prevailing delivery robots. A blend of different autonomy approaches, including semantic segmentation, obstacle detection, obstacle tracking, and high fidelity maps, is presented in our work. Moreover, this method comprises low computational algorithms feasible on embedded devices with algorithms running more efficiently and accurately. Research also analyzes state-of-the-art algorithms via practical applications. Low computational algorithms have a downside of accuracy, which is not as proportional as computation. Finally, the research proposes that this algorithm will be m ore realizable as compared to Level 5 autonomy for delivery robots.
S. Kharade, A. Kumar, A. Mukne, and S. Rathod
Abstract:
This paper presents an efficient way of reproducing electronic signatures using a Computerized Numeric Control (CNC) plotter mechanism. It aims to eliminate the use of distinct stamps by replacing it with a single customizable stamp. Generally, CNC machines are dependent on G and M codes for instructing the plotter. This work focuses on presenting a unique approach to bypass the use of these G-codes. The signature is wirelessly transferred from the Android application to the device and plotted on paper.
A system and method for electronic signature stamp
A system and method for electronic signature stamp
Inventors- A. Kumar, S. Kharade, and A. Mukne
Applicants- A. Kumar, S. Kharade, A. Mukne, and S. Rathod
Patent Application No.: 201921023402, filed: 2019-06-13, published: 2019-06-21
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