Research

Human-like Dexterous Picking Skills for Complex Multi-Object Scenes

Directed Researcher

Advisor: Prof. Berk Calli

Jan 2026 – Present

Vision pipeline that enables a Franka Panda 7-DoF robotic arm to perform dexterous object picking using RGB-D data from a ZED2i camera, and an ensemble of Mask R-CNN and Attention U-Net.

Singularity-Free Path Planning and Computation Algebra for Parallel Manipulators

Research Associate

Advisor: Prof. Sandipan Bandyopadhyay

Sep 2023 – July 2025

Developed computational algorithms for path planning and optimal trajectory generation in parallel manipulators by explicitly identifying singularity-free regions of operation. A Safe Working Zone (SWZ) framework is formulated to ensure trajectories remain away from kinematic singularities and self-collision configurations. The resulting approach enables reliable, safety-aware motion planning for parallel manipulators in practical applications.