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Nagamanikandan Govindan

7 accepted papers

2025

DG16M: A Large-Scale Dataset for Dual-Arm Grasping with Force-Optimized Grasps

Md Faizal Karim, Mohammed Saad Hashmi, Shreya Bollimuntha, Mahesh Reddy Tapeti, Gaurav Singh, Nagamanikandan Govindan +1
IROS 2025

Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets tailored for dual-arm settings remain scarce. We introduce a large-scale dataset of 16 million dual-arm grasps, evaluated

Cited by 4Source ↗code ↗Scholar ↗
2025

Da-Vil: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control

Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi, Autrio Das, Gaurav Singh, Srinath Sridhar +3
ICRA 2025

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects, assembling components, and performing human-like interactions. Ho

Cited by 13Source ↗code ↗Scholar ↗
2025

WireFlie: A Novel Obstacle-Overcoming Mechanism for Autonomous Transmission Line Inspection Drones

Aditya Sehgal, Zahiruddin Mahammad, Poorna Sasank Sesetti, Ankur Badhwar, Nagamanikandan Govindan
RA-L 2025

Robotic inspection of transmission lines presents significant challenges due to the complexity of navigating along the wires. Existing systems often rely on either flight modes for visual inspection or articulated crawling mechanisms for contact-based inspection. However, these approaches face limit

Cited by 2Source ↗Scholar ↗
2024

Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation

Gaurav Singh, Sanket Kalwar, Md Faizal Karim, Bipasha Sen, Nagamanikandan Govindan, Srinath Sridhar +1
IROS 2024poster

Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries involved, requiring a deep understanding of the local geometry to…

Cited by 6Source ↗code ↗Scholar ↗
2024

Identification and Learning-Based Control of an End-Effector for Targeted Throwing

Haasith Venkata Sai Pasala, Nagamanikandan Govindan, Samarth Brahmbhatt
RA-L 2024

Drones and mobile manipulators that can throw objects in addition to picking and placing them can be highly useful in industrial automation, warehouse environments, search and rescue operations, and sports training. However, predominant end-effectors primarily cater to grasping functions, neglecting

Cited by 3Source ↗Scholar ↗
2022

A new gripper that acts as an active and passive joint to facilitate prehensile grasping and locomotion

Nagamanikandan Govindan, Shashank Ramesh, Asokan Thondiyath
IROS 2022poster

Among primates, the prehensile nature of the hand is vital for greater adaptability and a secure grip over the substrate/branches, particularly for arm-swinging motion or brachiation. Though various brachiation mechanisms that are mechanically equivalent to underactuated pendulum models are reported…

Cited by 2Source ↗Scholar ↗
2018

GraspMan - A Novel Robotic Platform with Grasping, Manipulation, and Multimodal Locomotion Capability

Nagamanikandan Govindan, Sai Sourya Varenya Kovvali, Karthik Chandrasekaran, Asokan Thondiyath
ICRA 2018poster

In this paper, we present the design of a novel, hybrid multipurpose robotic platform equipped with a pair of graspers to synergize grasping, manipulation, and locomotion. The multipurpose grasper consists of two underactuated fingers with an active gripping surface, which passively conforms to an o…

Cited by 8Source ↗Scholar ↗