27 citations · 31 across the 5 of their papers we have counts for
5 papers
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…
Feedback-Induced Flutter Instability of a Flexible Beam in Fluid Flow
Sanders Aspelund, Ranjan Mukherjee, Aren Hellum
A pinned-free beam in axial fluid flow, subjected to feedback-based actuation at the pinned end, is investigated. The actuation may be a moment or a prescribed angle and it is prop…
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…