Ravi Gondhalekar — accepted AI-conference papers

2023

Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects

Rebecca H. Jiang, Neel Doshi, Ravi Gondhalekar, Alberto Rodriguez

IROS 2023poster

We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are both well studied, co-optimizing grasps and the gripper geometry to execute them receives less attention. As such, our fra…

Cited by 1 Source ↗Scholar ↗

2022

Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction

Rebecca H. Jiang, Neel Doshi, Ravi Gondhalekar, Alberto Rodriguez

IROS 2022poster

We propose a framework for co-optimizing the shape and motion of rigid robotic effectors for planar tasks. While planning object and robot-object contact trajectories is extensively studied, designing an effector that can execute the planned trajectories receives less attention. As such, our framewo…

Cited by 1 Source ↗Scholar ↗