Anirban Sinha — accepted AI-conference papers

2025

On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-Based Approach

Haowen Yao, Riddhiman Laha, Anirban Sinha, Jonas Hall, Luis F. C. Figueredo, Nilanjan Chakraborty +1

ICRA 2025

This paper is about generating motion plans for high degree-of-freedom systems that account for both static and dynamic collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard. Optimization-based planners can tackle

Cited by 2 Source ↗Scholar ↗

2020

On Screw Linear Interpolation for Point-to-Point Path Planning

Anik Sarker, Anirban Sinha, Nilanjan Chakraborty

IROS 2020poster

Robot motion is controlled in the joint space whereas the robots have to perform tasks in their task space. Many tasks like carrying a glass of liquid, pouring liquid, opening a drawer requires constraints on the end-effector during the motion. The forward and inverse kinematic mappings between join…

Cited by 28 Source ↗Scholar ↗

2019

Geometric Search-Based Inverse Kinematics of 7-DoF Redundant Manipulator with Multiple Joint Offsets

Anirban Sinha, Nilanjan Chakraborty

ICRA 2019poster

We propose a geometric method to solve inverse kinematics (IK) problems of 7-DoF manipulators with joint offsets at shoulder, elbow, and wrist. Traditionally, inverse position kinematics for redundant manipulators are solved by using an iterative method based on the pseudo-inverse of the manipulator…

Cited by 33 Source ↗Scholar ↗