Dr. Ashish Dutta

Lunar Rover:

Design & Kinemetic.

3D terrain generation using structure light and vision system.

Path palnning of lunar rover.

Path tracing and error correction.

Structured Light Scanning of surface and path planing:

Multi agent Systems:

Optimal capture of a moving object by a group of mobile robots.

Optimal pushing of a captured robot to a goal point.

Development of vision based control algorithms for optimal path planning.

 

Fig. Robots developed in our labs for multi agent systems research

 

                 Fig. Optimal capture of a moving object using the least number of robots and pushing it

                         optimally to a desired goal point.

Vision based Intelligent control:

Real time vision based capture of deforming and moving objects  by a three finger robot hand.

        

 

Fig. Optimal capture points satisfying force closure, best points found in real time on a deforming object.

 

 

Robot human Interaction and fingertip sensors:

Development of fingertip sensors and impedance controllers for human like motion.

       

Relevant publications in this area:

•  

  Pankaj Sharma, Anupam Saxena, Ashish Dutta. Optimal arrest and guidance of a moving prismatic object using multi agents, Robotica, 2008, vol. 26, no. 1.

   

  Tripures Mishra, Prithwijit Guha, Ashish Dutta and K. S. Venkatesh. “Stochastic Re-grasp Planning for Vision Aided Capture of

  Deforming and Moving Objects”. Mechatronics, 2009 (In Press). 




• Pankaj Sharma, Anupam Saxena, Ashish Dutta , “Multi agent form closure capture of a generic 2D polygonal object based on projective path planning,” Proceedings of the ASME 2006 International Design Engineering Technical Conferences, Philadelphia,  USA, Sept., 2006, pp.1-8.



• Pankaj Sharma, Ashish Dutta, Anupam Saxena, “Determination of Optimal Contact Points for Constraining a Prismatic Object by a Group of Mobile Robots”, Proceedings of the IEEE International Conference on Robotics, Automation and Mechatronics, Bangkok, 2006, pp. 86-90.


• T. Mishra, P. Guha, A. Dutta, and K.S. Venkatesh. “Efficient continuous re-grasp planning for moving and deforming planar objects”, Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, 2006, pp.  2472 – 2477.