Chetan Kapoor

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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)
This study introduces a criteria-based methodology for grasp synthesis. The method allows using multiple performance criteria both at the finger and the hand levels, which are used to generate a preliminary grasp and an optimum grasp, respectively. The approach offers reduced complexity by decomposing grasp synthesis into manageable phases. A case study(More)
Purpose – The objective of this work was to demonstrate a novel approach to human machine interaction that seamlessly uses teleoperation and automation in a complex environment. Design/methodology/approach – This work leverages developments in the area of operational software Operational Software Components for Advanced Robotics (OSCAR), decision making,(More)
Common software design practices use object-oriented (OO) frameworks that structure software in terms of objects, classes, and packages; 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)
Robotic systems are often used for remote operations in Department of Energy Environmental Management applications because they allow the removal of personnel from dangerous environments. Typically, these systems are operated in pure teleoperation mode by a human operator. While these systems are capable of performing many tasks, their performance can be(More)
Emergency response demands a very different kind of robotic solution than those created for known environments (e.g. factory robots) and well understood tasks (e.g. power plant maintenance). This paper discusses efforts undertaken by the Idaho National Laboratory (INL) to develop highly mobile, highly dexterous robots that can function autonomously or(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 parallel(More)