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    Motoman Robotics Lab

    Hariharan Ananthanarayanan

    Hari Ananth

    Bachelor of Science in Mechanical Engineering, University of Madras, Chennai, India,

    Master of Science in Mechanical Engineering, University of Tennessee, Knoxville TN,

    Current Status: Ph.D Candidate, Electrical and Computer Engineering, University of Dayton

    Research Topics: Real-Time Inverse Kinematics of redundant manipulators, Path planning, Visual Servoing

    Advisor: Dr. Raul Ordonez

    Research Interests:  I have been researching in the field of Robotics for the past 12 years. It all started with solving the Inverse Kinematics of a 6-DOF pick and place robot using Artificial Neural Networks. Once the robot was trained to pick and place objects, it will use this information to solve for the IK successively. Then in my Masters, i performed a kinematics coupling between two dissimilar kinematics structures. This involved controlling a 6-DOF manipulator arm using a 7-DOF Barrett arm in an teleoperation application. Recetly i working on solving the IK problem for hyper-redundant manipulators in real-time. The work was published in International Conference on Advanced Robotics, a chapter of IEEE. Currently, i am researching on the path planning of hyper-redundant manipulators in real-time in a dynamic environment.

    Publications

    International Conference on Advanced Robotics, 

    Research Movies

    Path Planning
      
    Inverse Kinematics