We are interested in the broad problem of grasping an object or tool into a functional grasp. In particular, we have considered the problem of adapting the grasp on an object by pushing it against the environment, i.e. prehensile pushing. We have developed a sampling-based planning framework to regrasp objects through a sequence of pushes. We get increased reliability and planning speed by restricting to interactions where at least one contact is sticking to the object at all times, i.e. stable prehensile pushing.
2019 PhD "Dexterous Manipulation with Simple Grippers", N. Chavan-Dafle. [Bibtex]
2019 IJRR "Planar In-Hand Manipulation via Motion Cones", N. Chavan-Dafle, R. Holladay and A. Rodriguez. [Bibtex]
2018 CASE "Regrasping by Fixtureless Fixturing", N. Chavan-Dafle, A. Rodriguez. [Bibtex]
2018 RSS "In-Hand Manipulation via Motion Cones", N. Chavan-Dafle, R. Holladay and A. Rodriguez. [Bibtex] Best Student Paper Award
2018 ICRA "Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts", N. Chavan-Dafle and A. Rodriguez. [Bibtex]
2017 ISRR "Sampling-based Planning of In-Hand Manipulation with External Pushes", N. Chavan-Dafle and A. Rodriguez. [Bibtex]
2016 ISER "Experimental Validation of Contact Dynamics for In-Hand Manipulation", R. Kolbert, N. Chavan-Dafle, and A. Rodriguez. [Bibtex]
2015 IROS "Prehensile Pushing: In-hand Manipulation with Push-Primitives", N. Chavan-Dafle and A. Rodriguez. [Bibtex]
2014 ICRA "Extrinsic Dexterity: In-Hand Manipulation with External Forces", N. Chavan-Dafle, A. Rodriguez, R. Paolini, B. Tang, S. S. Srinivasa, M. A. Erdmann, M. T. Mason, I. Lundberg, H. Staab, and T. A. Fuhlbrigge. [Bibtex] Best Video Award Finalist
