Anik Sarker - Academia.edu (original) (raw)
Uploads
Papers by Anik Sarker
Sensors, 2022
For upper extremity rehabilitation, quantitative measurements of a person’s capabilities during a... more For upper extremity rehabilitation, quantitative measurements of a person’s capabilities during activities of daily living could provide useful information for therapists, including in telemedicine scenarios. Specifically, measurements of a person’s upper body kinematics could give information about which arm motions or movement features are in need of additional therapy, and their location within the home could give context to these motions. To that end, we present a new algorithm for identifying a person’s location in a region of interest based on a Bluetooth received signal strength (RSS) and present an experimental evaluation of this and a different Bluetooth RSS-based localization algorithm via fingerprinting. We further present algorithms for and experimental results of inferring the complete upper body kinematics based on three standalone inertial measurement unit (IMU) sensors mounted on the wrists and pelvis. Our experimental results for localization find the target locatio...
Robot motion is controlled in the joint space whereas the robots have to perform tasks in their t... more Robot motion is controlled in the joint space whereas the robots have to perform tasks in their task space. Many tasks like carrying a glass of liquid, pouring liquid, opening a drawer requires constraints on the end-effector during the motion. The forward and inverse kinematic mappings between joint space and task space are highly nonlinear and multi-valued (for IK). Consequently, modeling task space constraints like keeping the orientation of the end-effector fixed while changing its position (which is required for carrying a cup of liquid without dropping it) is quite complex in the joint space. In this paper, we show that the use of screw linear interpolation to plan motions in the task space combined with resolved motion rate control to compute the corresponding joint space path, allows one to satisfy many common task space motion constraints in motion planning, without explicitly modeling them. In particular, any motion constraint that forms a subgroup of the group of rigid bo...
Volume 8B: 45th Mechanisms and Robotics Conference (MR)
In this paper, we present a task space-based local motion planner that incorporates collision avo... more In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel kinematic state evolution model of the robot where the collision avoidance is encoded as a complementarity constraint. We show that the kinematic state evolution with collision avoidance can be represented as a Linear Complementarity Problem (LCP). Using the LCP model along with Screw Linear Interpolation (ScLERP) in SE(3), we show that it may be possible to compute a path between two given task space poses by directly moving from the start to the goal pose, even if there are potential collisions with obstacles. Scalability of the planner is demonstrated with experiments using a physical robot. We present simulation and experimental results with both collision avoidance and task constraints to show the efficacy of our approach.
Problem 2. You can convert temperature from degrees Celsius to degrees Fahrenheit by multiplying ... more Problem 2. You can convert temperature from degrees Celsius to degrees Fahrenheit by multiplying by 9/5 and adding 32. Write a program that allows the user to enter a floating-point number representing degrees Celsius, and then displays the corresponding degrees Fahrenheit.
Drafts by Anik Sarker
Sensors, 2022
For upper extremity rehabilitation, quantitative measurements of a person’s capabilities during a... more For upper extremity rehabilitation, quantitative measurements of a person’s capabilities during activities of daily living could provide useful information for therapists, including in telemedicine scenarios. Specifically, measurements of a person’s upper body kinematics could give information about which arm motions or movement features are in need of additional therapy, and their location within the home could give context to these motions. To that end, we present a new algorithm for identifying a person’s location in a region of interest based on a Bluetooth received signal strength (RSS) and present an experimental evaluation of this and a different Bluetooth RSS-based localization algorithm via fingerprinting. We further present algorithms for and experimental results of inferring the complete upper body kinematics based on three standalone inertial measurement unit (IMU) sensors mounted on the wrists and pelvis. Our experimental results for localization find the target locatio...
Robot motion is controlled in the joint space whereas the robots have to perform tasks in their t... more Robot motion is controlled in the joint space whereas the robots have to perform tasks in their task space. Many tasks like carrying a glass of liquid, pouring liquid, opening a drawer requires constraints on the end-effector during the motion. The forward and inverse kinematic mappings between joint space and task space are highly nonlinear and multi-valued (for IK). Consequently, modeling task space constraints like keeping the orientation of the end-effector fixed while changing its position (which is required for carrying a cup of liquid without dropping it) is quite complex in the joint space. In this paper, we show that the use of screw linear interpolation to plan motions in the task space combined with resolved motion rate control to compute the corresponding joint space path, allows one to satisfy many common task space motion constraints in motion planning, without explicitly modeling them. In particular, any motion constraint that forms a subgroup of the group of rigid bo...
Volume 8B: 45th Mechanisms and Robotics Conference (MR)
In this paper, we present a task space-based local motion planner that incorporates collision avo... more In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel kinematic state evolution model of the robot where the collision avoidance is encoded as a complementarity constraint. We show that the kinematic state evolution with collision avoidance can be represented as a Linear Complementarity Problem (LCP). Using the LCP model along with Screw Linear Interpolation (ScLERP) in SE(3), we show that it may be possible to compute a path between two given task space poses by directly moving from the start to the goal pose, even if there are potential collisions with obstacles. Scalability of the planner is demonstrated with experiments using a physical robot. We present simulation and experimental results with both collision avoidance and task constraints to show the efficacy of our approach.
Problem 2. You can convert temperature from degrees Celsius to degrees Fahrenheit by multiplying ... more Problem 2. You can convert temperature from degrees Celsius to degrees Fahrenheit by multiplying by 9/5 and adding 32. Write a program that allows the user to enter a floating-point number representing degrees Celsius, and then displays the corresponding degrees Fahrenheit.