Imin Kao — accepted AI-conference papers

2024

Motion Planning for Object Manipulation by Edge-Rolling

Maede Boroji, Vahid Danesh, Imin Kao, Amin Fakhari

IROS 2024

A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical shape or, in general, a curved edge, not only sliding and pivoting motions but also rolling the object along the edge ca

Cited by 0 Source ↗Scholar ↗

2021

Zero-Potential-Energy Motions due to Stiffness in Impedance Control of Robotic Tasks: an Innovative Theory and Experimental Study

Carlos Saldarriaga, Imin Kao

ICRA 2021poster

This paper presents an analytical methodology and experimental study to identify quantitatively the zero-potential-energy (ZP) motion due to the stiffness matrices in Cartesian impedance control of redundant manipulators. This mode of motion, analogous to the rigid-body mode in classic mechanical sy…

Cited by 2 Source ↗Scholar ↗