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Arjun Lakshmipathy

4 accepted papers

2026

High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing

Arjun Lakshmipathy, Jonathan P. King, Ethan Zuo, Rohit Satishkumar, Hongyi Chen, Jeffrey Ichnowski +3
RSS 2026poster

Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the safety and reliability required for complex, sustained physical interaction with humans. A key challenge hindering the development of such systems is that collecting, understanding, and effec…

Cited by 0Source ↗Scholar ↗
2022

Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations

Arjun Lakshmipathy, Dominik Bauer, Cornelia Bauer, Nancy S. Pollard
ICRA 2022poster

We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not dependent on grasp families, requires no model training or grasp sam…

Cited by 13Source ↗Scholar ↗
2021

Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation

Arjun Lakshmipathy, Dominik Bauer, Nancy S. Pollard
IROS 2021poster

We present a novel, low cost framework for reconstructing surface contact movements during in-hand manipulations. Unlike many existing methods focused on hand pose tracking, ours models the behavior of contact patches, and by doing so is the first to obtain detailed contact tracking estimates for mu…

Cited by 5Source ↗Scholar ↗
2020

Deep Learning of Neuromuscular and Visuomotor Control of a Biomimetic Simulated Humanoid

Masaki Nakada, Tao Zhou, Honglin Chen, Arjun Lakshmipathy, Demetri Terzopoulos
RA-L 2020

We present a biomimetic framework for human neuromuscular and visuomotor control that promises to be of value to researchers developing humanoid robots. Our framework features a biomechanically simulated human musculoskeletal model, actuated by numerous skeletal muscles, with realistic eyes driven b

Cited by 2Source ↗Scholar ↗