21 citations · 52 across the 33 of their papers we have counts for
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Symmetries in the wheeled inverted pendulum mechanism
Sneha Gajbhiye, Ravi N. Banavar, Sergio Delgado
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constrai…
A discrete-time Pontryagin maximum principle on matrix Lie groups
Karmvir Singh Phogat, Debasish Chatterjee, Ravi Banavar
In this article we derive a Pontryagin maximum principle (PMP) for discrete-time optimal control problems on matrix Lie groups. The PMP provides first order necessary conditions fo…
Geometric Controllability of The Purcell's Swimmer and its Symmetrized Cousin
Sudin Kadam, Ravi Banavar
We analyse weak and strong controllability notions for the locomotion of the 3-link Purcell's swimmer, the simplest possible swimmer at low Reynolds number from a geometric framewo…
Locomotion of the generalized Purcell's swimmer : Modelling, controllability and motion primitives
Sudin Kadam, Ravi Banavar
Micro-robotics at low Reynolds number has been a growing area of research over the past decade. We propose and study a generalized 3-link robotic swimmer inspired by the planar Pur…
Notes on geometry of locomotion of 3-dimensional version of the Purcell's swimmer
Sudin Kadam, Ravi Banavar
We present a generalized, 3 dimensional version of the Purcell's swimmer which is a planar mechanism locomoting at low Reynlods number regime. We use Cox theory and resistive force…