Patents & Publications

Patents:
Title: Two-phase Gripper to Reorient and Grasp [US 9808936 B2]
Inventors: Nikhil Chavan Dafle, Alberto Rodriguez, and Matthew T. Mason
 
Title: Shape-shifting Fingers for Robotic Grippers [US 62/765285, PCT/US2019/046768(in review)
Inventors: Nikhil Chavan Dafle and Alberto Rodriguez
 
Title: Robotic Manipulation of Objects using External Contacts [US 62/765255, PCT/US2019/046780​(in review)
Inventors: Nikhil Chavan Dafle and Alberto Rodriguez
 
Title: Robotic Manipulation of Objects for Grip Adjustment [US 62/765278, PCT/US2019/046771] (in review)
Inventors: Nikhil Chavan Dafle and Alberto Rodriguez
 
 
Journal Publications:
 
Title: Planar In-Hand Manipulation via Motion Cones
Authors: Nikhil Chavan Dafle, Rachel Holladay and Alberto Rodriguez
(The international Journal of Robotics Research IJRR 2019)
 
Selected Conference Publications:
 
Title: In-Hand Manipulation via Motion Cones
Authors: Nikhil Chavan Dafle, Rachel Holladay and Alberto Rodriguez
(Robotics: Science and Systems, RSS 2018, Pittsburgh, USA) (Invited to IJRR special issue)
Best Student Paper Award
 
Title: Regrasping by Fixtureless Fixturing 
Authors: Nikhil Chavan Dafle and Alberto Rodriguez
(International Conference on Automation Science and Engineering, CASE 2018, Munich, Germany)
IEEE Robotics and Automation Society's Travel Award
 
Title: Pneumatic Shape-shifting Fingers to Reorient and Grasp  
Authors: Nikhil Chavan Dafle, Kyubin Lee, and Alberto Rodriguez
(International Conference on Automation Science and Engineering, CASE 2018, Munich, Germany)
IEEE Robotics and Automation Society's Travel Award
 
Title: Stable Prehensile Pushing : In-hand Manipulation with Alternating Sticking Contacts
Authors: Nikhil Chavan Dafle and Alberto Rodriguez
(International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia)
IEEE Robotics and Automation Society's Travel Award
 
Title: Sampling-based Planning for In-hand Manipulations with External Pushes
Authors: Nikhil Chavan Dafle and Alberto Rodriguez
(International Symposium on Robotics Research, ISRR 2017, Puerto Varas, Chile)
Invitation to the Doctoral Consortium and NSF Travel Award
 
Title: Experimental Validation of Contact Dynamics for In-Hand Manipulation
Authors: Roman Kolbert, Nikhil Chavan Dafle and Alberto Rodriguez
(International Symposium on Experimental Robotics, ISER 2016, Tokyo, Japan)
 
Title: Prehensile Pushing: In-hand Manipulation with Push-Primitives
Authors: Nikhil Chavan Dafle and Alberto Rodriguez
(International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany)
US National Science Foundation (NSF) Travel Award
 
Title: A Two-Phase Gripper to Reorient and Grasp
Authors: Nikhil Chavan Dafle, Matthew T. Mason, Harald Staab and Gregory Rossano, Alberto Rodriguez
(International Conference on Automation Science and Engineering, CASE 2015, Gothenburg, Sweden)
IEEE Robotics and Automation Society's Travel Award
Patent Application [pdf] (Patent Issued)
 
Title: Extrinsic Dexterity: In-Hand Manipulation with External Forces
Authors: Nikhil Chavan Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha S. Srinivasa, 
Michael Erdmann, Matthew T. Mason, Ivan Lundberg, Harald Staab and Thomas Fuhlbrigge
(International Conference on Robotics and Automation, ICRA 2014, HongKong)
Finalist for Best Research Video Award
 
Workshop Presentations:
  • Regrasping by Fixtureless Fixtuing, @ Robotic Assembly – Recent Advancements and Opportunities for Challenging R&D, Munich, Germany. August 2018
  • Experimental Validation of Contact Dynamics for In-Hand Manipulation, @ ICRA, Stockholm,Sweden. May 2016
  • Prehensile Pushing: In-hand Manipulation using Push-Primitives, @ New England Manipulation Symposium 2015, Boston, USA. May 2015
  • Extrinsic Dexterity: Object Manipulation using External Forces, @ New England Manipulation Symposium 2014, New York, USA . May 2014
  • Smart Materials: Scope for Design, Mind-Spark'10, a national level science and technology festival  at College of Engineering Pune, India. October 2010
  • Design for Manufacturability and Assembly, @Vision'10, a national level technical symposium at Walchand College of Engineering, Sangli, India. March 2010