Dasharadhan Mahalingam

Robotic Nanoparticle Synthesis via Solution-Based Processes

ASME Letters in Translational Robotics, September 2026

Accepted

D. Mahalingam, M. Gallagher, N. Chakraborty, S. Wong

Website | Paper | arXiv

Design and Kinematic Analysis of a Novel Series-Parallel Hybrid Finger for Robotic Hands

ASME Journal of Mechanisms and Robotics, April 2025

T. Zaw, D. Mahalingam, N. Baiata, A. Patankar, N. Chakraborty

Paper

Manipulation Planning for Construction Activities with Repetitive Tasks

Accepted

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pittsburgh, Pennsylvania, USA, 2026

W. Liu, D. Mahalingam, F. Gao, C. Liang, N. Chakraborty

arXiv

Synthesizing Grasps and Regrasps for Complex Manipulation Tasks

IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, 2025

A. Patankar, D. Mahalingam, N. Chakraborty

Paper | arXiv

Point Cloud Decomposition for Task-Oriented Grasping

IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, 2025

K. Phi, A. Patankar, D. Mahalingam, N. Chakraborty, I.V. Ramakrishnan

Paper

A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE, 2024

D. Mahalingam, A. Patankar, R. Laha, S. Lakshminarayanan, S. Haddadin, N. Chakraborty

Paper | arXiv

Containerized Vertical Farming Using Cobots

IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024

D. Mahalingam, A. Patankar, K. Phi, N. Chakraborty, R. McGann, I.V. Ramakrishnan

Paper | arXiv

Task-Oriented Grasping with Point Cloud Representation of Objects

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, USA, 2023

A. Patankar, K. Phi, D. Mahalingam, N. Chakraborty, I.V. Ramakrishnan

Paper | arXiv

Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion

IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023

D. Mahalingam, N. Chakraborty

Paper | arXiv

Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees

IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, Pensylvania, USA, 2022

R. Laha, R. Sun, W. Wu, D. Mahalingam, N. Chakraborty, L.Figueredo, S. Haddadin

Paper | arXiv

Exploiting Physics and Data for Skill Acquisition from Virtual Reality-based Demonstrations for Construction Tasks

4th Workshop on Future of Construction: Safe, Reliable, and Precise Robots in Construction Environments
IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, 2025

W. Liu, D. Mahalingam, C.J. Liang, N. Chakraborty

Caregiver-Guided Robotic Manipulation to Promote Independence of People with Significant Locomotor Disability

Workshop on Assistive Robotics for Citizens
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, USA, 2023

D. Mahalingam, A. Patankar, D. Das, N. Chakraborty, I.V. Ramakrishnan

Containerized Vertical Farming Using Cobots

Workshop on Agricultural Robotics for a Sustainable Future
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, USA, 2023

D. Mahalingam, A. Patankar, N.Chakraborty, R. McGann, I.V. Ramakrishnan

Knowledge-Enabled Motion Generation for Complex Manipulation Tasks

Geometric Representations: The Roles of Screw Theory, Lie Algebra, and Geometric Algebra
IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022

D. Das, A. Patankar, F. Honda, D. Mahalingam, N. Chakraborty, C.R.Ramakrishnan, I.V. Ramakrishnan

Paper

A Screw-Geometric Data-Augmented Approach to Manipulation Planning and Control

ICRA 2025 Doctoral Consortium
IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, 2025

D. Mahalingam

Task-Dependent Grasp Metric with Object and Manipulator Dynamics

ICRA 2025 Late Breaking Results
IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, 2025

A. Patankar, D. Mahalingam, N. Chakraborty