27 citations · 27 across the 8 of their papers we have counts for
10 papers
Enhancing Energy Harvesting in Harmonically Forced Oscillators via Regenerative Impulsive Braking
Nilay Kant
This paper investigates whether regenerative impulsive braking can enhance passive energy harvesting in harmonically forced oscillators. An impulsive braking event directly extract…
Emergency Obstacle Avoidance Maneuvers in Differential-Drive Mobile Robots
Kautik Mandve, Nilay Kant
Emergency obstacle avoidance requires a mobile robot to brake or change its heading within the available distance. This paper investigates the dependence of maneuver performance an…
State Observers with Prescribed Output Error Bounds
Nilay Kant
This paper presents a state observer design for continuous linear time-invariant (LTI) systems subject to unknown bounded disturbances that enforces a prescribed bound on the obser…
Dynamics of the Thermomagnetic Pendulum
Ryan Thompson, Ethan Wang, Nilay Kant
A thermomagnetic pendulum is introduced as a coupled thermo-magnetic-mechanical system consisting of a ferromagnetic bob under gravity and an offset permanent magnet. Heating drive…
Online Approximate Dynamic Programming within Linear Model Validity Regions Exploiting Impulsive Braking Inputs
Adebayo Olayinka Oke, Nilay Kant
Persistent excitation required for online approximate dynamic programming (ADP) can drive a nonlinear system beyond the region where its local linear model remains valid. For a cla…
Modeling Human Strategy for Flattening Wrinkled Cloth Using Neural Networks
Nilay Kant, Ashrut Aryal, Rajiv Ranganathan +2
This paper explores a novel approach to model strategies for flattening wrinkled cloth learning from humans. A human participant study was conducted where the participants were pre…
Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds
Aakash Khandelwal, Nilay Kant, Ranjan Mukherjee
The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to d…
Nonprehensile Manipulation of a Stick Using Impulsive Forces
Aakash Khandelwal, Nilay Kant, Ranjan Mukherjee
The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a se…
Orbital Stabilization of Underactuated Systems using Virtual Holonomic Constraints and Impulse Controlled Poincare Maps
Nilay Kant, Ranjan Mukherjee
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a c…
Planar Symmetric Juggling of a Devil-Stick
Nilay Kant, Ranjan Mukherjee
Juggling a devil-stick can be described as a problem of non-prehensile manipulation. Assuming that the devil-stick remains confined to the vertical plane, the problem of juggling t…