7 papers
Soft Soil Gait Planning and Control for Biped Robot using Deep Deterministic Policy Gradient Approach
Gaurav Bhardwaj, Soham Dasgupta, N. Sukavanam +1
Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terr…
New notion of mild solutions for nonlinear differential systems involving Riemann-Liouville derivatives of higher order with non-instantaneous impulses
Lavina Sahijwani, N. Sukavanam
The artefact is dedicated towards the inspection of nonlinear fractional differential systems involving Riemann-Liouville derivative with higher order and fixed lower limit, includ…
Non-instantaneous Impulsive Riemann-Liouville Fractional Differential Systems: Existence and Controllability Analysis
Lavina Sahijwani, N. Sukavanam, Abdul Haq
The article is dedicated towards the study of fractional order non-linear differential systems with non-instantaneous impulses involving Riemann-Liouville derivatives with fixed lo…
Stability of Cobweb economic model involving Hilfer fractional derivative
Divya Raghavan, N Sukavanam
This paper evaluates the solution of cobweb models when there is a Hilfer fractional derivative in the demand and supply function. Particular cases when Hilfer derivative reducing…
Planning Brachistochrone Hip Trajectory for a Toe-Foot Bipedal Robot going Downstairs
Gaurav Bhardwaj, Utkarsh A. Mishra, N. Sukavanam +1
A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Brachistochrone is the fastest descent trajectory for a particle moving only under…
Cycloidal Trajectory Realization on Staircase based on Neural Network Temporal Quantized Lagrange Dynamics (NNTQLD) with Ant Colony Optimization for a 9-Link Bipedal Robot
Gaurav Bhardwaj, Utkarsh A. Mishra, N. Sukavanam +1
In this paper, a novel optimal technique for joint angles trajectory tracking control with energy optimization for a biped robot with toe foot is proposed. For the task of climbing…
Finite Time Stability Analysis of Non-Linear Fractional Order With Multi State Time Delay
Supriyo Dutta, N. Sukavanam
Sufficient condition for the stability of a fractional order semi-linear system with multi-time delay is proposed.