Publications de Ashwini Shukla

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Performing manipulation tasks interactively in real environments requires a high degree of accuracy and stability. At the same time, when one cannot assume a fully deterministic and static environment, one must endow the robot with the ability to react rap ...

Background The ability to follow one another's gaze plays an important role in our social cognition; especially when we synchronously perform tasks together. We investigate how gaze cues can improve performance in a simple coordination task (i.e., the mirr ...

Non-linear dynamical systems (DS) have been used extensively for building generative models of human behavior. Their applications range from modeling brain dynamics to encoding motor commands. Many schemes have been proposed for encoding robot motions usin ...

Robustness to perturbation has been advocated as a key element to robot control and efforts in that direction are numerous. While in essence these approaches aim at "endowing robots with a flexibility similar to that displayed by humans", few have actually ...

Reaching over to grasp an item is arguably the most commonly used motor skill by humans. Even under sudden perturbations, humans seem to react rapidly and adapt their motion to guarantee success. Despite the apparent ease and frequency with which we use th ...

Many daily tasks involve spatio-temporal coordination between two agents. Study of such coordinated actions in human-human and human-robot interaction has received increased attention of late. In this work, we use the mirror paradigm to study coupling of h ...

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planni ...

We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector o ...

Ashwini Shukla

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Coupled dynamical system based arm-hand grasping model for learning fast adaptation strategies

Role of Gaze Cues in Interpersonal Motor Coordination: Towards Higher Affiliation in Human-Robot Interaction

Augmented-SVM: Automatic space partitioning for combining multiple non-linear dynamics

Coupled dynamical system based hand-arm grasp planning under real-time perturbations

Learning Reach-to-Grasp Motions From Human Demonstrations

Cognitive mechanism in synchronized motion: An internal predictive model for manual tracking control

Catching Objects in Flight

Reaching and grasping kitchenware objects

From joint-attention to joint-action: Effects of gaze on human following motion