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Material Recognition via Heat Transfer Given Ambiguous Initial Conditions


Dec 03, 2020
Tapomayukh Bhattacharjee, Henry M. Clever, Joshua Wade, Charles C. Kemp

* 13 pages, 7 figures, supplementary material included 

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Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation


Nov 13, 2020
Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee, Byron Boots, Siddhartha Srinivasa

* Submitted to ICRA 2021 

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Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding


Nov 05, 2020
Ethan K. Gordon, Sumegh Roychowdhury, Tapomayukh Bhattacharjee, Kevin Jamieson, Siddhartha S. Srinivasa

* 6 pages + acknowledgements/references, 5 figures, under review 

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Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations


Jul 31, 2020
Liyiming Ke, Ajinkya Kamat, Jingqiang Wang, Tapomayukh Bhattacharjee, Christoforos Mavrogiannis, Siddhartha S. Srinivasa

* IROS 2020 

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Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously-Unseen Food Items


Sep 16, 2019
Ethan K. Gordon, Xiang Meng, Matt Barnes, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa

* 6 pages + 2 pages references, 7 figures; Abstract presented in IJCAI 2019 AIxFood Workshop; v2: Added simulation and experimental results for conference submission 

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Learning from failures in robot-assisted feeding: Using online learning to develop manipulation strategies for bite acquisition


Aug 19, 2019
Ethan K Gordon, Xiang Meng, Matt Barnes, Tapomayukh Bhattacharjee, Siddhartha S Srinivasa

* 5 pages, 3 figures, presented in IJCAI 2019 AIxFood Workshop 

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Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic Plate


Jun 05, 2019
Ryan Feng, Youngsun Kim, Gilwoo Lee, Ethan K. Gordon, Matt Schmittle, Shivaum Kumar, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa

* 16 pages 

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Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation


Feb 24, 2019
Tapomayukh Bhattacharjee, Gilwoo Lee, Hanjun Song, Siddhartha S. Srinivasa

* IEEE Robotics and Automation Letters, Volume: 4 , Issue: 2 , Page(s): 1485 - 1492, April 2019 
* 8 pages 

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A Model that Predicts the Material Recognition Performance of Thermal Tactile Sensing


Nov 04, 2017
Tapomayukh Bhattacharjee, Haoping Bai, Haofeng Chen, Charles C. Kemp

* This article is currently under review for possible publication 

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Inferring Object Properties with a Tactile Sensing Array Given Varying Joint Stiffness and Velocity


Nov 04, 2017
Tapomayukh Bhattacharjee, James M. Rehg, Charles C. Kemp

* This updated version [v2] was accepted to the International Journal of Humanoid Robotics, Special Issue on Tactile Sensing for Manipulation : New Progress and Challenges 

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A Handheld Device for the In Situ Acquisition of Multimodal Tactile Sensing Data


Nov 12, 2015
Joshua Wade, Tapomayukh Bhattacharjee, Charles C. Kemp

* This short 2-page paper was accepted and presented as a poster (https://goo.gl/8TqDTK) on Sep. 28, 2015 in IROS 2015 Workshop on 'See and Touch: 1st Workshop on multimodal sensor-based robot control for HRI and soft manipulation" organized by A. Cherubini, Y. Mezouar, D. Navarro-Alarcon, M. Prats, and J. A. Corrales Ramon. It was peer reviewed by 2 reviewers 

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Validation of a Control Algorithm for Human-like Reaching Motion using 7-DOF Arm and 19-DOF Hand-Arm Systems


Nov 05, 2013
Tapomayukh Bhattacharjee, Yonghwan Oh, Sang-Rok Oh

* This paper summarizes our work on the validation of a control algorithm for human-like reaching motion. This work was done at the Interaction and Robotics Research Center in Korea Institute of Science and Technology (KIST), South-Korea during 2010-2011 

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Non-linear Task-Space Disturbance Observer for Position Regulation of Redundant Robot Arms against Perturbations in 3D Environments


Nov 02, 2013
Tapomayukh Bhattacharjee, Yonghwan Oh, Sang-Rok Oh

* This paper summarizes our work on the formulation of a Non-linear Task-Space Disturbance Observer for Redundant Robot Arms. This work was done at the Interaction and Robotics Research Center in Korea Institute of Science and Technology (KIST), South-Korea during 2010-2011 

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