Merge pull request #57 from EstherSuchitha/main

paper added

_data/pubs/2024.yml

@@ -1,3 +1,12 @@
+- title: "A Hierarchical Manipulation Planning Framework Combining Striking,Pushing, and Pick & Place Motion Primitives"
+  authors: Prakrut Kotecha, Priyansh Sinha, Nagamanikandan Govindan
+  venue:  IEEE 20th International Conference on Automation Science and Engineering (CASE)
+  link: # https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10711645
+    url: /publications/2024/Prakrut_A-Hierarchical
+    display: Project Page
+  id: mkrishna
+  featured: 1
+
 - title: "Modular Adaptive Aerial Manipulation Under Unknown Dynamic Coupling Forces"
   authors: Rishabh Dev Yadav, Swati Dantu, Wei Pan, Sihao Sun, Spandan Roy, Simone Baldi
   venue:  IEEE/ASME TRANSACTIONS ON MECHATRONICS

_pages/project-pages/2024/Prakrut_A-Hierarchical.md

@@ -0,0 +1,25 @@
+---
+layout: project-page-new
+title: "A Hierarchical Manipulation Planning Framework Combining Striking, Pushing, and Pick & Place Motion Primitives"
+authors:
+  - name: Prakrut Kotecha∗
+    sup: 1
+  - name: Priyansh Sinha∗
+    sup: 1
+  - name: Nagamanikandan Govindan
+    sup: 1
+affiliations:
+  - name: Robotics Research Center, IIIT Hyderabad, India
+    link: https://robotics.iiit.ac.in
+    sup: 1
+permalink: /publications/2024/Prakrut_A-Hierarchical/
+abstract: "Mobile manipulators find applications in manufacturing, infrastructure inspection, and domestic services. While most mobile manipulators excel at pick and place, we aim to combine three distinct manipulation primitives: striking, pushing, and pick-and-place. This integration enables versatile object manipulation and expands the robot’s operational range. Furthermore, we propose a new attachment that can be easily fitted with most industrial two-finger grippers, capable of making line contact while pushing or striking an object. The proposed framework includes a high-level action sequence planner, dedicated offline planners for each manipulation primitive (Strike, Push, and Pick & Place), and a whole-body controller. Preliminary results from simulations and hardware experiments demonstrate the potential for diverse applications in the field of mobile manipulation."
+#project_page: https://ensemble-of-costs-diffusion.github.io/
+paper: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10711645
+#code: https://github.com/vishal-2000/EDMP
+#supplement: https://clipgraphs.github.io/static/pdfs/Supplementary.pdf
+#video: https://www.youtube.com/watch?v=ITo8rMInatk&feature=youtu.be
+#iframe: https://www.youtube.com/embed/ITo8rMInatk
+#demo: https://anyloc.github.io/#interactive_demo
+
+---