Aniruddha V. Shembekar — accepted AI-conference papers

2020

Online Grasp Plan Refinement for Reducing Defects During Robotic Layup of Composite Prepreg Sheets

Rishi K. Malhan, Rex Jomy Joseph, Aniruddha V. Shembekar, Ariyan M. Kabir, Prahar M. Bhatt, Satyandra K. Gupta

ICRA 2020poster

High-performance composites are increasingly being used in the industry. Sheet layup is a process of manufacturing composite components using deformable sheets. We have developed a robotic cell to automate the layup process and overcome the limitations of the manual layup. Generating offline traject…

Cited by 16 Source ↗Scholar ↗

2019

A Robotic Cell for Multi-Resolution Additive Manufacturing

Prahar M. Bhatt, Ariyan M. Kabir, Rishi K. Malhan, Brual Shah, Aniruddha V. Shembekar, Yeo Jung Yoon +1

ICRA 2019poster

Extrusion-based additive manufacturing (AM), also known as fused deposition modeling (FDM) extrudes filaments through a heated nozzle and builds a part layer-by-layer. Using a smaller diameter nozzle can achieve better surface finish. However, there is a trade-off between surface finish and build ti…

Cited by 79 Source ↗Scholar ↗

2019

Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems

Ariyan M. Kabir, Alec Kanyuck, Rishi K. Malhan, Aniruddha V. Shembekar, Shantanu Thakar, Brual C. Shah +1

ICRA 2019poster

We pose the problem of path-constrained trajectory generation for the synchronous motion of multi-robot systems as a non-linear optimization problem. Our method determines appropriate parametric representation for the configuration variables, generates an approximate solution as a starting point for…

Cited by 45 Source ↗Scholar ↗