H. Lakhani

Papers

Total Citations

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About

H. Lakhani is a robotics researcher whose work focuses on the mechanics and control of object manipulation, particularly in non-prehensile and sliding interactions. Their most notable contribution, detailed in the 2002 paper "Robotic control of sliding object motion and orientation," introduces models and control strategies that enable a robot to precisely reposition an object as it slides across a surface or between the jaws of a parallel-jaw gripper. This approach eliminates the need to repeatedly pick up and re-grasp payloads for repositioning or to deposit a gripped object solely to modify the grasp. By enabling direct, controlled sliding, Lakhani’s work addresses fundamental challenges in dexterous manipulation, offering efficiency gains in assembly, packaging, and material handling. Though the paper has garnered 3 citations, its conceptual impact lies in advancing the understanding of frictional and dynamic control in robotic systems. Lakhani’s research contributes to the broader field of non-prehensile manipulation, a key area for developing more fluid and adaptable robotic behaviors in unstructured environments.