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Robotics and Control Lab

Research Publications in Journals

 

 

  1. 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.

 

 

  1. 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,

 

https://doi.org/10.1177/0959651817743410, November 24, 2017.

 

  1. 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.

 

 

  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, pp. 282-298, Vol. 231, Issue 4, 2017.

 

 

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

 

  1. Vijay Dalla, Pushparaj Mani Pathak, Trajectory Tracking Control of a Group of Cooperative Planar Space Robot Systems, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, pp. 885-901, Vol. 229(10), November 2015.

 

  1. 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, pp. 217–234, Vol. 72, June 2015.

 

  1. 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, pp. 77– 91, Vol. 229(2), Feb 2015.

 

  1. 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, pp. 103–125, Vol. 91(2), Feb 2015.

 

 

  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, pp. 278-295, Vol. 42(3), 2014.

 

 

  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, pp. 1306–1313, Vol. 61(12), December 2013.

 

 

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

 

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

 

  1. 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, pp. 473-482, Vol. 61 (5), 2013.

 

 

  1. 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.

 

  1. Vikrant Bende, Pushparaj M Pathak, Kedar S Dixit and S.P. 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, pp. 1077-1087, Vol. 226 (8), 2012.

 

 

  1. 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, pp. 11-26, Vol. 226(1), 2012.

 

  1. 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, pp. 731-745, Vol. 88(6), 2012.

 

  1. 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.

 

  1. Haresh Patolia, P. M. Pathak, S. C. Jain, Trajectory Control of a Dual Arm Space Robot with Little Attitude Disturbance, Simulation: Transactions of the Society for Modeling and Simulation International, pp. 188-204, Vol. 87(3), 2011.

 

 

 

 

 

Research Publications Presented in Conferences

 

  1. Mulu Girmay, Inderjeet Singh, Pushparaj Mani Pathak, A.K. Samantaray, Rochdi Merzouki, Belkacem Ould Bouamama, Dynamic Modelling of Cooperative Planar Bionic Manipulator, 3rd International and 18th National Conference on Machines and Mechanisms(iNaCoMM 2017), BARC, Mumbai, December 13-15, 2017.

 

 

  1. Ravindra S. Bisht, Pushparaj M. Pathak, Saroj K. Panigrahi, Dynamics and Control of Two-Mobile Modules of Climbing Robot Connected by a Manipulator, the 8th Asian Conference on Multibody Dynamics (ACMD2016), https://doi.org/10.1299/jsmeacmd.2016.8.40_1289957, Kanazawa, Japan, August 7-10, 2016.

 

 

  1. R.V. Ram, P.M. Pathak, and S. J. Junco, Modelling of Mobile Robot With on Board Redundant Manipulator Arm, 2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM2015), IIT Kanpur, Dec 16-19, 2015.

 

 

  1. Vijay Kumar Dalla and Pushparaj Mani Pathak, Trajectory Control of Curve Constrained Hyper-Redundant Space Manipulator, The 14th IFToMM World Congress, Taipei International Convention Center, Taiwan, DOI Number: 10.6567/IFToMM.14TH.WC.OS13.123, October 25-30, 2015.

 

 

  1. Vijay Kumar Dalla and Pushparaj Mani Pathak, Obstacle Avoiding Strategy of a Reconfigurable Redundant Space Robot, Proc. of the Int. Conf. on Integrated Modelling and Analysis in Applied Control and Automation, IMAACA 2015, pp.105-114, Claudio Hotel and Congress Center, Bergeggi, Italy, September 21-23, 2015.

 

 

 

 

 

  1. Vijay Dalla, Pushparaj Pathak, Reconfiguration of Joint Locked Hyper-Redundant Space Manipulator, Advances in Robotics, AIR 2015, DOI:http://dx.doi.org/10.1145/2783449.2783517, Goa, July 02-04,2015.

 

 

  1. Gossaye Mekonnen, Sanjeev Kumar, Pushparaj Pathak, A New Dynamic Control Model with Stability Analysis for Omnidirectional Mobile Robot, Advances in Robotics, AIR 2015, DOI:http://dx.doi.org/10.1145/2783449.2783484, Goa, July 02-04, 2015.

 

 

  1. M. M. Gor, P. M. Pathak, A. K. Samantaray, J.-M. Yang and S. W. Kwak, Posture Control Strategy of a Platform using a RP Manipulator, 14th International Conference on Control, Automation and Systems (ICCAS 2014), pp.1325-1330, KINTEX, Gyeonggi-do, Korea, Oct. 22-25, 2014.

 

 

  1. M. M. Gor, P. M. Pathak, A. K. Samantaray, J.-M. Yang and S. W. Kwak, Reduction in Body Disturbance of Quadruped Robot using Two Moving Appendage, The Proceedings of The 2014 International Conference on Bond Graph Modelling and Simulation (ICBGM’2014), pp. 85-92, Monterey, California, July 6-10, 2014.

 

 

  1. G.M. Alemu, S. Kumar, P.M. Pathak, Self-Calibration of a Camera Equipped SCORBOT ER-4u Robot, 1st International & 16th National Conference on Machines and Mechanisms, (iNaCoMM 2013), pp.788-793, IIT Roorkee, 18-20 December 2013.

 

  1. M. M. Gor, P. M. Pathak, A. K. Samantaray, J.M. Yang, S.W. Kwak, Dynamic Modelling and Simulation of Compliant Legged Quadruped Robot, 1st International & 16th National Conference on Machines and Mechanisms (iNaCoMM 2013), pp.7-16, IIT Roorkee, 18-20 December 2013.

 

 

  1. M.K Sutar, P.M. Pathak, N.K. Mehta, A.K. Sharma, Trajectory Control of a 3-link Planar Manipulator using Virtual Link Based Controller, 1st International & 16th National Conference on Machines and Mechanisms (iNaCoMM 2013), pp.124-131, IIT Roorkee, 18-20 December 2013.

 

 

  1. Vijay Kumar, Pushparaj M. Pathak, A Stable Docking Operation by a Group of Space Robots, 1st International & 16th National Conference on Machines and Mechanisms (iNaCoMM 2013), IIT Roorkee, pp.132-139, IIT Roorkee, 18-20 December 2013.

 

 

 

 

 

  1. M. M. Gor, P. M. Pathak, A. K. Samantaray, Jung-Ming Yang, Seong Woo Kwak, Jacobian Based Control of Walking Robot With Compliant Legs, Proc. of the Int. Conf. on Integrated Modelling and Analysis in Applied Control and Automation, IMAACA 2012, pp.171-177, Wien, Austria, September 19-21, 2012.

 

 

  1. Sonam Behl, Coralie Escande, Pushpraj Mani Pathak, Rochdi Merzouki, Bhanu Mishra, Dynamic Modelling of Multi Section Bionic Manipulator: Application To Robotino-XT, Proc. of the Int. Conf. on Integrated Modelling and Analysis in Applied Control and Automation, IMAACA 2012, pp.247-252, Wien, Austria, September 19-21, 2012.

 

 

  1. Mihir Kumar Sutar, P.M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta, Bond Graph Modelling of In Vivo Robot For Biopsy, 7th Vienna International Conference on Mathematical Modelling, MATHMOD 2012, Wien, Austria, February 15 - 17, 2012.

 

  1. Mihir Kumar Sutar, Achin Garg, Chandra Sen Vikram, Saurabh Gupta, P.M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta, Design of In-Vivo Robot for Biopsy, International Conference on Microactuators and Micromechanism, CMERI, Durgapur, Jan 19-20, 2012.

 

 

  1. Mihir Kumar Sutar, P.M. Pathak, Kinematic Analysis of In-Vivo Robot for Stomach Biopsy, Proceedings of the International Conference on Soft Computing for Problem Solving, SocProS 2011, pp. 1049–1056, IIT Roorkee, December 20-22, 2011.

 

 

  1. Ganesh Kumar and P. M. Pathak, Dynamic Modelling and Simulation of Four Legged Walking Robot with Flexible Legs, 15th National Conference on Machines and Mechanisms (NaCoMM 2011), IIT Chennai, November 30- December 2, 2011.

 

 

  1. Rishikesh Rathi and P. M. Pathak, Trajectory Planning of Dual Arm Free Flying Space Robot using Polynomial Approach, 15th National Conference on Machines and Mechanisms (NaCoMM 2011), IIT Chennai, November 30- December 2, 2011.

 

 

  1. V. L. Krishnan, P. M. Pathak and S. C. Jain, Study of coupled dynamics between body and legs of a four legged walking robot, Proc. of the Int. Conf. on Integrated Modelling and Analysis in Applied Control and Automation, (IMAACA 2011), pp.98-107, Rome, Italy, 12-14 September 2011.

 

 

 

 

 

  1. Haresh Patolia, P. M. Pathak and S. C. Jain, Reduced Model-Based Trajectory Control of Multi-Arm Space Robot, International Conference on Multi Body Dynamics 2011, pp. 83–97, Vijayawada, 24-26 February 2011.

 

  1. V. L. Krishnan, P. M. Pathak, S. C. Jain, Force Control at the Body of a Flexible Legged Monopod Robot, 10th National Conference on Industrial Problems on Machines and Mechanisms, (IPRoMM-2010), pp.51-56, Malaviya National Institute of Technology Jaipur, 17-18 December, 2010.

 

 

  1. Haresh Patolia, P. M. Pathak, S. C. Jain, Trajectory Control of a Three DOF Dual Arm Space Robot With Small Attitude Disturbance, The 4th International Conference on Integrated Modelling and Analysis in Applied Control and Automation (IMAACA 2010), pp 1-9, Fes, Morocco, 13-15 October 2010.

 

 

  1. V. L. Krishnan, P. M. Pathak, Lokesh Sardana, S. C. Jain, Simulation and Experimental Studies on Walking Robot With Flexible Legs, The 4th International Conference on Integrated Modelling And Analysis In Applied Control And Automation (IMAACA 2010), pp.11-19, Fes, Morocco, 13-15 October 2010 (Best paper award).

 

  1. Haresh Patolia, P. M. Pathak, S. C. Jain, Force Control in Single DOF Dual Arm Cooperative Space Robot, 9th International conference on Bond Graph Modelling and Simulation (ICBGM 2010), pp. 87-94, Orlando, Florida, 11-15 April 2010.

 

 

  1. V. L. Krishnan, P. M. Pathak, S. C. Jain, A. K. Samantaray, Reconfiguration of Four Legged Walking Robot for Actuator Faults, 9th International conference on Bond Graph Modelling and Simulation (ICBGM 2010), pp. 134-141, Orlando, Florida, 11-15 April 2010.

 

  1. Haresh Patolia, P. M. Pathak, S. C. Jain, Docking Operation by Two DOF Dual Arm Planar Cooperative Space Robot, 14th National Conference on Machines and Mechanisms (NaCoMM09), pp. 206-213, NIT Durgapur, 17-18 December, 2009.

 

 

  1. V. L. Krishnan, P. M. Pathak, S. C. Jain, Force Control in One Legged Hopping Robot while Landing, 14th National Conference on Machines and Mechanisms (NaCoMM09), pp.214-220, NIT Durgapur, 17-18 December, 2009.

 

 

  1. Amit Kumar, Pushparaj Mani Pathak, N. Sukavanam, Overwhelming Trajectory Control of Flexible Space Robot, 14th National Conference on Machines and Mechanisms (NaCoMM09), pp.221-226, NIT Durgapur, 17-18 December, 2009.

 

 

  1. P. M. Pathak, R. Merzouki, A. K. Samantaray, B. Ould-Bouamama, Reconfiguration of Directional Handling of an Autonomous Vehicle, IEEE Region 10 Colloquium and the Third International Conference on Industrial and Information Systems (ICIIS), 10.1109/ICIINFS.2008.4798408, IIT Kharagpur, December 8-10, 2008.

 

 

  1. G. Surya Kiran, Amit Kumar, Pushparaj M. Pathak, and N. Sukavanam, Trajectory Control of Flexible Space Robot, IEEE International Conference on Mechatronics and Automation, pp.738-743, Takamatsu, Kagawa, Japan, August 5 - 8, 2008.

 

 

  1. Nachiket P. Deshpande, Haresh Patolia, Pushparaj M. Pathak, and Satish C. Jain, Attitude Disturbance Minimization in Space Robot using Dual Arm, IEEE International Conference on Mechatronics and Automation, pp.744-749, Takamatsu, Kagawa, Japan August 5 - 8, 2008.

 

 

  1. P.M. Pathak, Amit Kumar, and N. Sukavanam, Bond Graph Modelling of Planar Two Links Flexible Space Robot, 13th National Conference on Machines and Mechanisms, pp.165-170, IISc Bangalore, December 12 - 13, 2007.