Chetan Kapoor

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This paper presents a scaleable approach to redundancy resolution problems involving multiple criteria. The proposed scheme relies on the disintegration of the inverse kinematics solution from multicriteria decision making. The scheme is composed of systematic generation of a set of inverse kinematics solutions and evaluating these solutions using multiple(More)
BACKGROUND The Trauma Pod (TP) vision is to develop a rapidly deployable robotic system to perform critical acute stabilization and/or surgical procedures, autonomously or in a teleoperative mode, on wounded soldiers in the battlefield who might otherwise die before treatment in a combat hospital could be provided. METHODS In the first phase of a project(More)
Common software design practices use object-oriented (OO) frameworks that structure software in terms of objects, classes, and package; designers then create programs by inheritance and composition of classes and objects. Operational Software Components for Advanced Robotics (OSCAR) is one such framework for robot control software with abstractions for(More)
This study examines how various hardware design choices and operating conditions would affect the quality of the data in a wireless sensing environment. A series of experimental investigations are carried out using a laboratory shaking table instrumented with off-the-shelf MEMS accelerometers. A wireless unit is developed to interface with these wired(More)
— An application of OSCAR – a generalized robotic software framework – for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing and criteria-based decision-making. The developed application allows an operator to interactively reconfigure modular chains into(More)