Ankush Kundan Dhawan — accepted AI-conference papers

2025

Dynamic Layer Detection of Thin Materials using DenseTact Optical Tactile Sensors

Ankush Kundan Dhawan, Camille Chungyoun, Karina Ting, Monroe Kennedy III

IROS 2025

Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common failure modes (crumpled corners/edges, incorrect grasp configura

Cited by 0 Source ↗Scholar ↗

2024

DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces

Won Kyung Do, Ankush Kundan Dhawan, Mathilda Kitzmann, Monroe Kennedy

ICRA 2024poster

Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design equipped with a synthetic fingernail. We propose three distinct…

Cited by 8 Source ↗Scholar ↗