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Author

R. Dubey

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Conference Jul 2026

Human-Inspired Redundancy Resolution for Upper-Limb Robotics Using Phase-Dominant Performance Criteria

The aim of this study is to develop improved motion planning algorithms for humanoid robots and to enhance prosthetic control and rehabilitation training through predictive interfaces grounded in natural human movement. To address this aim, we introduce a synthesized biomechanically plausible human-inspired inverse-kin...

Urvish Trivedi, Dimitrios Menychtas, Redwan Alqasemi et al. · 0 citations
Open access 2026

Object-Motion-Aware Grasp Pose Refinement for Stable and Collision-Free Real-Robot Grasping

Neural-network-based grasp detection has achieved remarkable success in robotic manipulation due to its efficiency and generalization ability. However, detected poses are often not optimized, leading to undesired object motion or collisions during physical execution. This paper proposes a motion-aware refinement framew...

Tian Tan, Redwan Alqasemi, R. Dubey · 0 citations

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