Harish Palanthandalam-Madapusi — accepted AI-conference papers

2026

Consensus Driven Dynamical Systems Control for Dual-Arm Handover

Debojit Das, Siddhi Jain, Rajesh Kumar, Harish Palanthandalam-Madapusi

ICRA 2026poster

Robot bimanual handovers (transferring an object between two arms) require careful coordination of timing, motion, and obstacle avoidance. Efficient, human-like object transfer between cooperating robots demands both spatial and tight temporal coordination. Existing approaches treat these requiremen…

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2026

Velocity-Based Admittance-Impedance Control with Contact Compliance Modeling for Robust Dual-Arm Manipulation

Samriddhi Dubey, Yash Kashiv, Shreyas Kumar, Siddhi Jain, Rajesh Kumar, Harish Palanthandalam-Madapusi

ICRA 2026poster

Many industrial and commercial manipulators provide only position and velocity control interfaces, making direct regulation of contact forces challenging. In dual-arm manipulation, this limitation prevents stable force closure and consistent control of the object wrench. We present a control framewo…

Cited by 0 Scholar ↗