Umashankar Nagarajan — accepted AI-conference papers

2020

A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes

Max Bajracharya, James Borders, Dan Helmick, Thomas Kollar, Michael Laskey, John Leichty +7

ICRA 2020poster

We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is enabled by a highly capable mobile manipulation robot, whole-bo…

Cited by 36 Source ↗Scholar ↗

2015

Integral Admittance Shaping for exoskeleton control

Umashankar Nagarajan, Gabriel Aguirre-Ollinger, Ambarish Goswami

ICRA 2015poster

A wide variety of strategies have been developed for assisting human locomotion using powered exoskeletons. Although these strategies differ in their aims as well as the control methods employed, they have the implicit property of causing a virtual modification of the dynamic response of the human l…

Cited by 28 Source ↗Scholar ↗