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Mitarbeiter

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Ashok Meenakshi Sundaram

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik

Short Bio

Ashok Meenakshi Sundaram works as a researcher on robotic grasping and manipulation in the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR) since 2016. He received his master's degree in Autonomous Systems from Bonn-Rhein-Sieg University of Applied Sciences in 2016 and his bachelor's degree in Electronics and Instrumentation Engineering from Anna University in 2010. During his master studies, he also successfully participated in many RoboCup competitions as a member of the b-it-bots team. Between 2010 and 2013, he worked as a software developer at the Tata Consultancy Services.

Research Interests

  • Grasp Planning
  • Dexterous Manipulation
  • Multi-contact Interaction
  • Humanoid Robots

Awards

  • DLR Idea Award 2018 - Smart Farming. Feinfühlinge Roboterhände zum greifen von Lebensmitteln (Sensitive robotic hands for gripping food).
  • RoboCup@Work (2015 - 2nd place, 2014 - 3rd place), Robocup@Work GermanOpen (2015 & 2014  - 3rd place)

Videos

Journal Publications

[J4] Salvatore D'Avella, Matteo Bianchi, Ashok M. Sundaram, Carlo Alberto Avizzano, Maximo A. Roa, Paolo Tripicchio, "The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation", IEEE Robotics and Automation Magazine (RAM), 2023. [Accepted]

[J3] Salvatore D'Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, Maximo A. Roa, "Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes", IEEE Robotics and Automation Letters (RAL), vol. 8 (4), pp. 2030-2037, 2023. [DOI: 10.11097LRA.2023.3247221]

[J2] Ashok M. Sundaram*, Nikola Budjakoski*, Julian Klodmann, Maximo A. Roa, "Task-Specific Robot Base Pose Optimization for Robot-Assisted Surgeries", Frontiers in Robotics and AI, 2022. [DOI: 10.3389/frobt.2022.899646]   *equal contribution

[J1] Hussein Mnyusiwalla, Pavlos Triantafyllou, Panagiotis Sotiropoulos, Maximo A. Roa, Werner Friedl, Ashok M. Sundaram, Duncan Russell, Graham Deacon, "A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems", IEEE Robotics and Automation Letters (RAL), vol. 5 (2), pp. 1389-1396, 2020. [DOI: 10.1109/LRA.2020.2965076]

Conference Publications

[C9] Elle Miller, Maximilian Durner, Matthias Humt, Gabriel Quere, Wout Boerdijk, Ashok M. Sundaram, Freek Stulp, Jörn Vogel, "Unknown Object Grasping for Assistive Robotics", IEEE Int. Conf. on Robotics and Automation (ICRA), 2023. [Under Review]

[C8] Rafael Herguedas, Ashok M. Sundaram, Gonzalo López-Nicolás, Maximo A. Roa, Carlos Sagüés, "Adaptive Bayesian Optimization for Robotic Pushing of Thin Fragile Deformable Objects", Sixth Iberian Robotics Conference (ROBOT2023), 2023. [Accepted]

[C7] Ana Elvira Huezo Martin, Ashok M. Sundaram, Werner Friedl, Virginia Ruiz Garate, Maximo A. Roa, "Task-Oriented Stiffness Setting for a Variable Stiffness Hand", IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 10275-10281, 2022. [DOI: 10.1109/ICRA48891.2023.10161053]

[C6] Maximilian Maier, Thomas Bahls, Ralph Baver, Markus Bihler, Maxime Chalon, Werner Friedl, Nils Hoeger, Cynthia Hofmann, Alexander Kolb, Ashok M. Sundaram, Martin Pfanne, Hans-Juergen Sedlmayr, Nikolaus Seitz, "TINA: The Modular Torque Controlled Robotic Arm - A Study for Mars Sample Return", IEEE Aerospace Conference (AeroConf), pp. 1-10, 2021. [DOI: 10.1109/AERO50100.2021.9438222]

[C5] Ashok M. Sundaram, Werner Friedl, Maximo A. Roa, "Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp.  9377-9384, 2020. [DOI: 10.1109/IROS45743.2020.9340689]

[C4]  Ashok M. Sundaram, Bernd Henze, Oliver Porges, Zoltan-Csaba Marton, and Maximo A. Roa, "Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control", IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pp. 395-402, 2018. [DOI: 10.1109/HUMANOIDS.2018.8624998]

[C3]  Ashok M. Sundaram, Oliver Porges, and Maximo A. Roa, "Planning Realistic Interactions for Bimanual Grasping and Manipulation", IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pp. 987-994, 2016. [DOI: 10.1109/HUMANOIDS.2016.7803392]

[C2]  Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, and Maximo A. Roa, "Grasp Quality Evaluation in Underactuated Robotic Hands", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1946-1953, 2016. [DOI: 10.1109/IROS.2016.7759307]

[C1]  Melanie Ludwig, Ashok M. Sundaram, Matthias Füller, Alexander Asteroth, and Erwin Prassler, "On modeling the cardiovascular system and predicting the human heart rate under strain", Int. Conf. on Information and Communication Technologies for Ageing Well and eHealth (ICT4AgeingWell), pp. 106-117, 2015. [DOI: 10.5220/0005449001060117]

Book Chapter

[B1]  Matthias Füller, Ashok M. Sundaram, Melanie Ludwig, Alexander Asteroth, and Erwin Prassler, "Modeling and Predicting the Human Heart Rate During Running Exercise", Information and Communication Technologies for Ageing Well and e-Health, vol 578 of Communications in Computer and Information Science Series (CCIS), Springer, pp. 106-125, 2015. [DOI: 10.1007/978-3-319-27695-3_7]

Miscellaneous Publications

[M2]  Ashok M. Sundaram, "Planning Realistic Force Interactions for Bimanual Grasping and Manipulation", Master Thesis, Bonn-Rhein-Sieg University of Applied Sciences, 2015.

[M1]  Shehzad Ahmed, Padmaja Kulkarni, Oscar Lima, Arka Mallick, Alexander Moriarty, Deebul Nair, Ashok M. Sundaram, Santosh Thoduka, Rhama Dwiputra, Frederik Hegger, Nico Hochgeschwender, Jose Manuel Sanchez Loza, Sven Schneider, and Gerhard K. Kraetzschmar, "b-it-bots RoCKIn@Work Team Description Paper", Robot Competitions Kick Innovation In Cognitive Systems and Robotics (RoCKIn), 2015.

Projects

  • IntelliMan - AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics (EU Project: HorizonEurope-101070136, 2022-2026)
  • SoftEnable - Towards Soft Fixture-Based Manipulation Primitives Enabling Safe Robotic Manipulation in Hazardous Healthcare and Food Handling Applications (EU Project: HorizonEurope-101070600, 2022-2026)
  • SMiLE2gether - Servicerobotik für Menschen in Lebenssitutationen mit Einschränkungen (Bayerisches Staatministerium für Wirtschaft und Medien, Engergie und Technologie, 2019-2024)
  • STABLE - Sample Transfer Arm Breadboard Lander Evaluation (European Space Agency, 2019-2021)
  • SoMa - Soft-Bodied Intelligence for Manipulation (EU Project: H2020-ICT-645599, 2015-2019)
  • COMANOID - Multi-contact Collaborative Humanoids in Aircraft Manufacturing (EU Project: H2020-ICT-645097, 2015-2018)

External Links


 

 

Zuletzt aktualisiert: Mittwoch, 27. September 2023 von Ashok Meenakshi Sundaram