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Akhil J. Madhani
Researcher at Massachusetts Institute of Technology
Publications - 6
Citations - 379
Akhil J. Madhani is an academic researcher from Massachusetts Institute of Technology. The author has contributed to research in topics: Motion planning & Haptic technology. The author has an hindex of 3, co-authored 6 publications receiving 371 citations.
Papers
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Proceedings ArticleDOI
The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery
TL;DR: The Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS) is presented and suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments is demonstrated.
Proceedings ArticleDOI
Motion planning of mobile multi-limb robotic systems subject to force and friction constraints
Akhil J. Madhani,Steven Dubowsky +1 more
TL;DR: The FW approach, termed the force-workspace (FW) approach, maps constraints into the system C-space to form constraint obstacles using a recursive subdivision process to generate motions along which actuator efforts can be specified without violating system constraints.
Proceedings ArticleDOI
Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach
Akhil J. Madhani,Steven Dubowsky +1 more
Book ChapterDOI
Planning motions of robotic systems subject to force and friction constraints with an application to a robotic climber
Akhil J. Madhani,Steven Dubowsky +1 more
TL;DR: The Force-Workspace Approach is presented and used to plan a system's activities without violating actuation limits or frictional constraints with their tasks and environments.
Patent
Surgical robotic apparatus
TL;DR: In this article, a master and a slave can be controlled with an Inverse Jacobian controller, and the master with a Jacobian Transpose controller, with the slave having more degrees-of-freedom (DOF) than the master.