AIConfPaper
← Search

Sisir Karumanchi

4 accepted papers

2020

Autonomous Navigation over Europa Analogue Terrain for an Actively Articulated Wheel-on-Limb Rover

William Reid, Michael Paton, Sisir Karumanchi, Brendan Chamberlain-Simon, Blair Emanuel, Gareth Meirion-Griffith
IROS 2020poster

The ocean world Europa is a prime target for exploration given its potential habitability [1]. We propose a mobile robotic system that is capable of autonomously traversing tens of meters to visit multiple sites of interest on a Europan analogue surface. Due to the topology of Europan terrain being…

Cited by 11Source ↗Scholar ↗
2020

LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot

John Nicholson, Jay Jasper, Ara Kourchians, Greg McCutcheon, Max Austin, Mark Gonzalez +4
IROS 2020poster

This paper describes the design, control and initial experimental results of the quadruped robot LLAMA. Designed to operate in a human-scale world, this 67kg-class, all-electric robot is capable of rapid motion over a variety of terrains. Thanks to a unique leg configuration and custom high-torque,…

Cited by 14Source ↗Scholar ↗
2018

Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian

Matt Burkhardt, Sisir Karumanchi, Kyle Edelberg, Joel W. Burdick, Paul Backes
ICRA 2018poster

This work demonstrates dual-arm lifting of bulky objects based on inferred object properties (center of mass (COM) location, weight, and shape) using proprioception (i.e. force torque measurements). Data-driven Bayesian models describe these quantities, which enables subsequent behaviors to depend o…

Cited by 6Source ↗Scholar ↗
2015

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A framework for whole-body manipulation

Paul Hebert, Jeremy Ma, James Borders, Alper Aydemir, Max Bajracharya, Nicolas Hudson +4
ICRA 2015poster

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called “supervised-autonomy” is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation th…

Cited by 29Source ↗Scholar ↗