Arkadeep Narayan Chaudhury

I am a graduate student at Carnegie Mellon University, pursuing a PhD in Robotics at the Robotics Institute. I am advised by Prof. Chris Atkeson. My current research interests include designing and demonstrating custom computer vision solutions for precise 3D perception -- especially in bounded scenes like rooms, robot workspaces etc.

I am in the industrial job market starting Q1 2024 for applied and research roles. Please reach out if you think I will be a good fit.

In a previous life ...

I was a graduate student and then a project staff in the Robotics and Design lab at the department of Mechanical Engineering, IISc Bangalore with Prof. Ashitava Ghosal. I earned my MSc (Engg.) degree at the department of Mechanical Engineering at Indian Institute of Science Bangalore while working with Prof. Ashitava Ghosal on manipulator design. I graduated from the Indian Institute of Engineering Science and Technology, Shibpur with a B.E. degree in Mechanical Engineering in first class with highest honors. For my undergraduate thesis I worked with Prof. Debasis Datta.

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Current Research

I am interested in the effects of moving lights and cameras for better 3D perception -- specifically in the context of small scenes.

A multi-flash stereo camera for photorealistic capture of small scenes
Anonymous authors

Project

We demonstrate a robot mounted multi-flash stereo camera for generating photorealistic, portable representations of small scenes. More details coming soon.

Shape from Shading for Robotic Manipulation
Arkadeep Narayan Chaudhury , Leonid Keselman , Christopher Atkeson,
Accepted to WACV '24
Project /

In this work we demonstrate a robot workspace scaled controlled illumination setup that generates high quality information for table top scale objects for robotic manipulation. With our low angle of incidence directional illumination setup we can precisely capture surface normals and depth discontinuities of Lambertian objects. We demonstrate three use cases of our setup for robotic manipulation. We show that 1) by using the captured information we can perform general purpose grasping with a single point vacuum gripper, 2) we can visually measure the deformation of known objects and, 3) we can estimate pose of known objects and track unknown objects in the robot's workspace.

Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization
Arkadeep Narayan Chaudhury , Timothy Man, Wenzhen Yuan, Chris Atkeson
Accepted to the IEEE RA-L
Project / Extended Abstract

In this work we make the point that coordinating tactile sensingwith vision by a co-located camera instead of only consideringthe tactile sensor inputs alone can a) provide useful informationin advance of contact and b) simplify the contact point andpose estimation problem.

Previous Research

In the past I have worked on medical robotics, design of mechanical components and parallel robots. I have also done some research on modelling the human three fingered grasp and on optimal motion planning inside constrained spaces.

Hand-held stiffness measurement device for tissue analysis
Tejas A. Zodage, Arkadeep Narayan Chaudhury, Arun Srivatsan Rangaprasad, Nicolas Zevallos, Howie Choset
Hamlyn Symposium on Medical Rootics, 2019
Paper / Code

In this short paper, we describe a new method to generate stiffness maps for soft tissues by fusing a stand alone optical tracking system with an off-the-shelf force sensor.

Efficient Representation of Ducts and Cluttered Spaces for Realistic Motion Planning of Hyper-Redundant Robots through Confined Paths
K. P. Ashwin*, Arkadeep Narayan Chaudhury*, Ashitava Ghosal
Computer Aided Design, 2020 , * = equal contribution
paper / video 1 / video 2 / video 3

In this paper, we describe an optimization based approach for motion planning of hyper-redundant robots, which results in a natural motion of the links through ducts and onfined spaces. We demonstrate 3 scenarios: (video 1) snake-like robots inspecting an industrial pipeline, (video 2) motion of an endoscopic robot through gastro-intestinal (GI) tract and (video 3) motion of snake-like robots in search and rescue operations.

Optimum design of multi-degree-of-freedom closed-loop mechanisms and parallel manipulators for a prescribed workspace using Monte Carlo method
Arkadeep Narayan Chaudhury, Ashitava Ghosal
Mechanism and Machine Theory, 2017
Paper

In this work, we use the Monte Carlo method in conjunction with gradient based optimization algorithms to optimally design multi-degree-of-freedom parallel manipulators and closed-loop mechanisms.

Workspace of Multifingered Hands Using Monte Carlo Method
Arkadeep Narayan Chaudhury, Ashitava Ghosal
ASME J. Mechanisms Robotics, 2018
Paper

Inspired by a multi-jointed human finger and the hand, we propose a six-degree-of-freedom model of a three-fingered robotic hand as a parallel manipulator. We simulate the contact between the fingertips and objects and model the workspace of the human hand. We compare the model with real motion-capture data and show that our method provides a conservative upper bound on the actual workspace.

Analysis of prismatic springs of non-circular coil shape and non-prismatic springs of circular coil shape by analytical and finite element methods
Arkadeep Narayan Chaudhury, Debasis Datta
J. Comp. Des. and Engineering , 2017
Paper

This paper presents a methodology for designing prismatic springs of non-circular coil shape and non-prismatic springs of circular coil shape using analytical and numerical methods.


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