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Pathak Pushparaj Mani
Pushparaj Mani Pathak Associate Professor pushpfme[at]iitr.ac.in 91-1332-285608
Areas of Interest
  • Robotics, Dynamics , Control, Bond Graph Modelling, Design
Professional Background
FromToDesignationOrganisation
23-10-12cont.Associate ProfessorIndian Institute of Technology Roorkee
23-02-0622-10-12Assistant ProfessorIndian Institute of Technology Roorkee
07-01-0422-02-06ReaderIndira Gandhi Government Engineering College, Sagar
01-11-0206-01-04Senior LecturerIndira Gandhi Government Engineering College, Sagar
07-01-9931-10-02Senior LecturerGovernment Engineering College, Raipur
07-01-9406-01-99LecturerGovernment Engineering College, Raipur
11-06-9006-01-94Junior Telecom OfficerWestern Telecom Region, Mumbai
16-10-8910-06-90Junior Telecom Officer (Trainee)Regional Telecom Training Center, Hyderabad
02-1989 06-1989Design Engineer (Trainee)Gajra Gears Limited, Dewas (M.P.)
Honors and Awards
AwardInstituteYear
Member Technical Committee for Multi-body DynamicsInternational Federation for the Promotion of Mechanism and Machine Science (IFToMM)2011
Best Paper Award 4th International Conference on Integrated Modeling and Analysis in Applied Control and Automation2010
Educational Details
DegreeSubjectUniversityYear
Ph.D.Robotics, Dynamics, ControlIndian Institute of Technology, Kharagpur2005
M.TechSolid Mechanics and DesignIndian Institute of Technology, Kanpur1998
B.Tech.Mechanical EngineeringNational Institute of Technology, Calicut1988
Administrative Background
FromToDesignationOrganisationLevel
20172018Chairman GATE-JAM 2018IIT Roorkee
20162017Organizing Vice-Chairman GATE 2017; Vice Chairman JAM 2017IIT Roorkee
20152016Vice-Chairman GATE-JAM 2016IIT Roorkee
20142016Coordinator, Machine Design LaboratoriesMechanical & Industrial Engineering Department
20142016Member, Department Research CommitteeMechanical & Industrial Engineering Department
20142016Member, Department Purchase CommitteeMechanical & Industrial Engineering Department
20142016Member, Department Administrative CommitteeMechanical & Industrial Engineering Department
20102012Officer-In-Charge, Maintenance (East Block)Mechanical & Industrial Engineering Department
2006ContOfficer-In-Charge, Robotics and Control LabMechanical & Industrial Engineering Department
20062013Staff Adviser, Model and RoboticsHobbies Club
20142016Chairman, Department Write-off Committee Mechanical & Industrial Engineering Department
Sponsored Research Projects
TopicFunding AgencyYear
Design & Fabrication of a Planar Cooperative Space RobotSRIC, IIT Roorkee2007
Root cause analysis of problems caused by excessive vibration of separator fan and related imbalanceACC,Gaggal (HP)2008
Dynamics and Control of RobotsCEC Course2008
Recommendation to lower the vibrations caused by erosive wear in separator fan ACC,Gaggal (HP)2008
Walking Robot With Flexible LegsSRIC, IIT Roorkee2008
Modelling, Simulation and Control of Space RobotsIndian Space Research Organisation (ISRO)2009
BOPET Film Manufacturing Equipment Design Study, Gap Analysis and New Design for Enhance CapacitySRF limited, Kashipur2009
Design and Development of Miniature Robot for Biopsy and In Vivo SurgeryDepartment of Science and Technology, (DST), Government of India2009
Failure investigation of cranes accidents at Jamrudpur site of DMRC Crime branch, ISC, Delhi 2010
Fault Tolerant Control and Reconfiguration of Walking Robots with Flexible LegsDepartment of Sc. and Tech., (DST), Govt. of India and Ministry of Sc. and Tech., South Korea2011
Design of Different Components Of 5.0 Ton Electric Overhead Traveling (EOT) CraneB.K. TRADERS, BARAUNI (For Indian Oil Corporation)2013
Inspection of injection moulding machine to determine its classificationTexplas, Haridwar2013
Development of control system for mobile robot with manipulator for transporting hazardous materialsDST, Gov of India and Ministerio De Ciencia, Teconología E Innovación Productiva, Govt of Argentina2015
Modelling and Feasibility Studies towards development of wire actuated manipulator arm for ROV-DAKSHDefence Research and Development Organisation (DRDO), Research and Development Establishments (Engr)2015
Modelling and control of mobile cooperating bionic armsDST India and CNRS FRance2016
Indo-Korea joint network centre on Robotics-Hyper-redundant RobotsDST(India)- and Ministry of Education, Science & Technology of the Republic of Korea2018
Memberships
  • The Robotics Society of India (TRS), Member
  • Association for Machines and Mechanisms (AMM), Indian affiliate of the  IFToMM, Life member
  • American Society of Mechanical Engineers (ASME), Member
Teaching Engagements
TitleCourse CodeClass NameSemester
Robotics and ControlMI 502M Tech.(including Pre Phd Course)Autumn
Mechanical Engineering DrawingMIN-108B Tech Autumn
Advanced RoboticsMI 568M Tech(including Pre Phd Course)Spring
Machine DrawingMI 204B TechSpring
PHDs Supervised
TopicScholar NameStatus of PHDRegistration Year
Modelling and Control of Flexible Space RobotsAmit KumarA2006
Modelling and Control of Quadruped Robot with Flexible LegsV L KrishnanA2008
Dynamics and Control of Dual-Arm Space RobotsHaresh Kumar Punalal PatoliaA2008
Studies on Electro-Magnetically Stir Cast Al-Si AlloysPrabhkiran KaurA2008
Design Development and Control of Miniature Robot for In-Vivo BiopsyMihir Kumar SutarA2010
Remaining Life Prediction of Machine Element by Using Reverse Engineering ApproachAtul KumarA2010
Dynamic Modeling and Control of Quadruped Robot with Compliant LegsGor Mehulkumar MahendrabhaiA2012
Wireless Hybrid Visual Servoing Algorithms For Mobile RobotsGossaye Mekonnen AlemuA2012
Strategies for Control of Multiple and Hyper Redundant Space RobotsVijay DallaA2012
Dynamics and Control of Rail VehicleVivek KumarA2011
Design and control of Mobile manipulatorVitalram RayankulaO2015
Design and Development of Autonomous Climbing RobotRavindra Singh BishtO2015
Modelling and Control of Soft RobotsMulu GirmayO2015
Design and Development of Construction RoboticsIshan ChawlaO2017
Haptic Control of In Vivo RobotsSarvesh SainiO2017
Modelling and Control of Bionic ManipulatorsVipin PachouriO2018
Design and Development of Snake RobotGarima BhandariO2018
Visits to outside institutions
Institute VisitedPurpose of VisitDate
Marina Del Rey, Los Angeles, California, U.S.A., To participate in 15th IASTED International Conference on Modelling and Simulation 1/3/2004
École Polytechnique Universitaire de Lille (Polytech’Lille), FranceCollaborative researchMay 2008
École Polytechnique Universitaire de Lille (Polytech’Lille), FranceCollaborative researchMay 2009
Fez, MoroccoTo participate in the 4th International Conference On Integrated Modeling And Analysis In Applied Control And Automation (IMAACA 2010), 13/10/2010
École Polytechnique Universitaire de Lille (Polytech’Lille), FranceCollaborative researchMay, 2011
Vienna University of Technology, Vienna, AustriaTo attend international conference15/02/2012
Catholic university and Keimyung university Daegu, South KoreaCollaborative research17/06/2012
École Polytechnique Universitaire de Lille, France Collaborative research01/06/2013
Jeju, South KoreaJoint Korea-India workshop in Robotics, , 30-31 November 2013.30/11/2013
Kyungpook National University, Daegu, Republic of KoreaCollaborative research20/10/2014
BangkokTo participate in International Conference on Production and Mechanical Engineering 30/12/2014
Taipei, Taiwan To participate in the 14th IFToMM World Congress, Taipei International Convention Center, Taiwan, 25/10/2015
École Polytechnique Universitaire de Lille (Polytech’Lille), FranceBilateral visit for DST India and CNRS France sponsored project on Bionic manipulators01/06/2017
Georgia Tech, AtlantaTo participate in ASME Conference on Dynamic Systems Measurement and Control1/10/2018
Chungnam National University(CNU) Daejeon & Kyungpook National University (KNU), Daegu, South Korea To participate in workshop in relation to Indo-Korea joint network center on Robotics28/10/2018
Courses or Conferences Organised
Conference NameSponsored ByDate
1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM 2013)Association for Machines and Mechanisms (AMM)18/12/2013
National International Collaboration
TopicOrganisationLevel
Research in Human-Centered Robotics with special emphasis on Field and Bio-Medical RehabilitationIndia -South Korea joint network centerRP
Modelling and Control of Mobile Cooperating Bionic ArmsDST India and INRIA FranceRP
Development of Control System for Mobile Robot with Manipulator for Transporting Hazardous MaterialsUniversidad Nacional de Rosario, ArgentinaRP
Fault Tolerant Control and Reconfiguration of Walking Robots with Flexible LegsKyungpook National University, Daegu, South KoreaRP
Books Authored

Intelligent Mechatronic Systems: Modeling, Control and Diagnosis, R. Merzouki, A.K. Samantaray, P.M. Pathak, B. Ould Bouamama, Springer, London, 2013, ISBN 978-1-4471-4628-5

Refereed Journal Papers

2019

  1. Vitalram Rayankula, P M Pathak, Sergio Jose Junco, Inverse Kinematics of Mobile Manipulator using Bidirectional Particle Swarm Optimization by Manipulator Decoupling, Mechanism and Machine Theory, pp. 385-405, Vol.131, 2019. 

2018

  1. Vivek Kumar, Vikas Rastogi and P.M. Pathak, Modelling And Evaluation of the Hunting Behaviour of a High-Speed Railway Vehicle on Curved Track, Proc IMechE Part F: J Rail and Rapid Transit, 0(0) 1–17, DOI: 10.1177/0954409718789531, 2018.
  2. Vijay Kumar Dalla and Pushparaj Mani Pathak, Power Optimized Motion Planning of Reconfigured Redundant Space Robot, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, accepted, 2018.

  3. M. M. Gor, P. M. Pathak, A. K. Samantaray, K. Alam, P. Kumar, D. Anand, P. Vijay, R. Sarkar, J.-M. Yang, S. W. Kwak, Development of a Compliant Legged Quadruped Robot, Sadhana - Academy Proceedings in Engineering Sciences, 43 (7), 102, 2018.

  4. R.V.Ram, P.M.Pathak, and S. J. Junco, Trajectory Control of Mobile Manipulator in the Presence of Base Disturbance, Simulation: Transactions of the Society for Modeling and Simulation International, DOI:0037549718784186, 2018.

  5. Vijay Kumar Dalla and Pushparaj Mani Pathak, Impedance Control in Multiple Cooperative Space Robots Pulling a Flexible Wire, The Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, DOI: 10.1177/0954406218781421.
  6. Inderjeet Singh, Yacine Amara, Achille Melingui, Pushparaj Mani Pathak and Rochdi Merzouki, Modeling of Continuum Manipulators using Pythagorean Hodograph Curves, Soft Robotics, pp. 425-442, Vol. 5(4), 2018.

  7. Vijay Kumar Dalla and Pushparaj Mani Pathak, Docking Operation by Multiple Space Robots for Minimum Attitude Disturbance, International Journal of Modelling and Simulation, pp. 38-49, Vol. 38, 2018.

  8. M. M. Gor, P. M. Pathak, A. K.Samantaray, J. M. Yang, S. W. Kwak, Fault Accommodation in Compliant Quadruped Robot through a Moving Appendage Mechanism, Mechanism and Machine Theory, pp. 228–244, Vol. 121, March 2018.

  9. M. M. Gor, P. M. Pathak, A. K.Samantaray, J.-M. Yang, S. W. Kwak, Fault Tolerant Control of a Compliant Legged Quadruped Robot for Free Swinging Failure, Proc IMechE Part I: J Systems and Control Engineering, pp. 161-177, Vol. 232(2), 2018.

  10. Vivek Kumar, Vikas Rastogi, Pushparaj Pathak, Dynamic Analysis of Vehicle-Track Interactions Due To Wheel Flat Using Bond Graph, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multibody Dynamics, pp. 398-412, Vol. 232(3), 2018.

2017

  1. Vijay Kumar Dalla and Pushparaj Mani Pathak, Curve-constrained collision-free trajectory control of hyper-redundant planar space robot, Proc IMechE Part I: J Systems and Control Engineering, Volume: 231 issue: 4, page(s): 282-298, 2017.

  2. M.M. Gor, P.M. Pathak, A.K. Samantaray, J.M. Yang, and S.W. Kwak, Bond graph Modeling and Control of Compliant Legged Quadruped Robot, (Book chapter), Springer (Editor: Wolfgang Borutzky), 497-546, 2017.

  3. Mihir Kumar Sutar and Pushpraj Mani Pathak, Bond Graph Modelling and Control of Hyper-Redundant Miniature Robot for In-Vivo Biopsy, (Book Chapter), Springer (Editor: Wolfgang Borutzky), 451-495, 2017.

  4. Vivek Kumar, Vikas Rastogi and P.M. Pathak, Simulation for whole-body vibration to assess ride comfort of a low–medium speed railway vehicle, Simulation: Transactions of the Society for Modeling and Simulation International, pp. 225–236, Volume 93, Issue 3, 2017.

2016

  1. Gossaye Mekonnen, Sanjeev Kumar, P. M. Pathak, Wireless Hybrid Visual Servoing of Omnidirectional Wheeled Mobile Robots, Robotics and Autonomous Systems, 75 (2016) 450–462.

2015

  1. Vijay Kumar Dalla, Pushparaj Mani Pathak, Trajectory Tracking Control of A Group Of Cooperative Planar Space Robot Systems, Proc IMECHE Part I: J Systems And Control Engineering, Vol. 229, No. 10, pp.885-901, 2015.

  2. M. M. Gor, P. M. Pathak, A. K. Samantaray, J.-M. Yang and S. W. Kwak, Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot, Robotics and Autonomous Systems, 72 (2015) 217–234.

  3. M. K. Sutar, P. M. Pathak, N. K. Mehta, A. K. Sharma, V. K. Gupta, Inverse Kinematics and Control of Four Degree of Freedom Wire Actuated In-Vivo Robot, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 2015, Vol. 229(2) 77–91

  4. M. M. Gor, P. M. Pathak, A. K. Samantaray, J.-M. Yang and S. W. Kwak, Control of Compliant Legged Quadruped Robot in Workspace, Simulation: Transactions of the Society for Modeling and Simulation International 2015, Vol. 91(2) 103–125.

  5. Coralie Escande, Taha Chettibi, Rochdi Merzouki, Vincent Coelen, Pushparaj Pathak, Kinematic Calibration of a Multi-section Bionic Manipulator, IEEE/ASME Transactions on Mechatronics, Vol.20(2), 2015, pp. 663-674. 

2014

  1. Achin Garg, Chandra Sen Vikram, Saurabh Gupta, Mihir Kumar Sutar, P.M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta, Design and Development of In-vivo Robot for biopsy, Mechanics based Design of Structures and Machines, Volume 42, Issue 3, 2014, pages 278-295.

2013

  1. L. Sardana, Mihir Sutar, P. M. Pathak, A Geometric Approach for Inverse Kinematics of a 4- Link Redundant In- Vivo Robot for Biopsy, Robotics and Autonomous Systems, Volume 61, Issue 12December 2013Pages 1306-1313.

  2. Haresh Patolia, P. M. Pathak, S. C. Jain, Reduced Model Based Trajectory Control of Multi-Arm Space Robot, Advances in Vibration Engineering, 12(3), 2013, pp. 251-265.

  3. K. Ganesh, Pushparaj Mani Pathak, Modelling and Simulation of Four Legged Jumping Robot with Compliant Legs in Sagital Plane, Robotics and Autonomous Systems, 61(2013), 221-228.

  4. Amit Kumar, Pushparaj Mani Pathak, N. Sukavanam, Trajectory Control of Two DOF Rigid- Flexible Space Robot by a Virtual Space Vehicle, Robotics and Autonomous Systems, 61 (5) , pp. 473-482, 2013.

  5. Mihir Kumar Sutar, P. M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta, Forward Kinematic Analysis of In-Vivo Robot for Stomach Biopsy, J Robotic Surgery, pp 281-287, Vol. 7(3), September 2013.

 

2012

  1. Vikrant Bende, Pushparaj M Pathak, Kedar S Dixit and SP Harsha, Energy optimal trajectory planning of an underwater robot using a genetic algorithm, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 226 (8), pp. 1077-1087.

  2. V.L. Krishnan, P.M. Pathak, S.C. Jain, and A.K. Samantaray, Reconfiguration of four-legged walking robot for actuator faults. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 226(1), 11-26, 2012

  3. H. Patolia, P.M. Pathak, and S.C. Jain, Design of a virtual foundation for impedance control in a dual arm cooperative space robot. Simulation: Transactions of the Society for Modeling and Simulation International, 88(6), 731-745, 2012.

  4. Prabhkiran Kaur, D.K. Dwivedi, and P.M. Pathak, Effects of electromagnetic stirring and rare earth compounds on the microstructure and mechanical properties of hypereutectic Al-Si alloys. International Journal of Advanced Manufacturing Technology, Vol. 63, Issue 1-4, pp. 415-420, 2012. 

  5. Mihir Kumar Sutar, P.M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta, Bond Graph Modelling of In Vivo Robot For Biopsy, IFAC Proceedings Volume, pp. 421-426, Vol.45(2), 2012.

2011

  1. Prabhkiran Kaur, Dheerendra K. Dwivedi, Pushparaj M. Pathak, Sergio Haro Rodriguez, An effect of Electromagnetic stirring and Cerium oxide addition on dry, sliding and reciprocating wear of Al-Si alloy, Proceedings of the Institution of Mechanical Engineers, Part J, Journal of Engineering Tribology, 226(3) 251–258, 2011.

  2. Haresh Patolia, P. M. Pathak, S. C. Jain, Trajectory Control of a Dual Arm Space Robot with Small Attitude Disturbance, Simulation: Transactions of the Society for Modeling and Simulation International, 2011, pp. 188-204.

2010

  1. Rahul Maheshwari; Rahul Gupta; Rachit Jaiwant; Haresh Patolia; P. M. Pathak; S. C. Jain, Mechatronic Design and control of  a Planar Cooperative Robot, International Journal of  Advanced Mechatronic Systems, Vol. 2, No. 4, 2010, pp. 271-280.

2009

  1. P.M. Pathak, Amalendu  Mukherjee, Anirvan  Dasgupta, Interaction Torque Control by Impedance Control of Space Robots, Simulation: Transactions of the Society for Modeling and Simulation International, Vol. 85, Issue 7, July 2009, 451–459.

2008

  1. P.M. Pathak, R. Prasanth Kumar, Amalendu  Mukherjee, Anirvan  Dasgupta, A Scheme for Robust Trajectory Control of Space Robots, Simulation Modelling Practice and Theory, Volume 16, Issue 9,( October 2008),  Pages 1337-1349.

  2. Santosh L. Bhangare, Pushparaj Mani Pathak, Finite Element Method: Some Modelling Issues, Journal of  Vibroengineering.  2008 April/June,   Volume  10,  Issue  2,  ISSN 1392-8716, 2008,  pp. 170-175.

2007

  1. Pathak Pushparaj Mani, “Meaningful Finite Element Discretization Scheme: A Case for Circular Disk Subjected To Four Radial Loads”, Journal of Vibroengineering, Vol.9 (1), 36-40, 2007. 

2006

  1. Pushparaj Mani Pathak, Amalendu Mukherjee, and Anirvan Dasgupta, “Attitude Control of a Free-Flying Space Robot using a Novel Torque Generation Device”, Simulation: Transactions of the Society for Modeling and Simulation International, Vol. 82, No. 10,  pp. 661-677, 2006

  2. Pushparaj Mani Pathak, Amalendu Mukherjee, and Anirvan Dasgupta, “Impedance Control of Space Robot”, International Journal of Modeling and Simulation, Vol.26, No.4, 2006, pp.316-322.

2005

  1. Pushparaj Mani Pathak, Amalendu  Mukherjee, and Anirvan Dasgupta, “Impedance Control of Space Robots using Passive Degrees of Freedom in Controller Domain”, Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control., 127(4), pp. 564-578, 2005.

1999

  1. P.M. Pathak and K.Ramesh, “Validation of Finite Element Modelling Through Photoelastic Fringe Contours”, Communications in Numerical Methods in Engineering, 1999, Volume 15, pp. 229-238.

  2. K. Ramesh and P. M. Pathak, "Role of photoelasticity in evolving discretisation schemes for FE analysis", Experimental Techniques, 23(4), 36-38, 1999.