6 citations · 14 across the 6 of their papers we have counts for
9 papers
Terrain Adaptive Gait Transitioning for a Quadruped Robot using Model Predictive Control
Prathamesh Saraf, Abhishek Sarkar, Arshad Javed
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these pla…
Omnidirectional Three Module Robot Design and Simulation
Kartik Suryavanshi, Rama Vadapalli, Praharsha Budharaja +2
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120° a…
Omnidirectional Tractable Three Module Robot
Kartik Suryavanshi, Rama Vadapalli, Ruchitha Vucha +2
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120° a…
Modular Pipe Climber
Rama Vadapalli, Kartik Suryavanshi, Ruchita Vucha +2
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently a…
Learning Coordinated Tasks using Reinforcement Learning in Humanoids
S Phaniteja, Parijat Dewangan, Pooja Guhan +2
With the advent of artificial intelligence and machine learning, humanoid robots are made to learn a variety of skills which humans possess. One of fundamental skills which humans…
DiGrad: Multi-Task Reinforcement Learning with Shared Actions
Parijat Dewangan, S Phaniteja, K Madhava Krishna +2
Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where different tasks share a set of actions. In such environments a…
A Deep Reinforcement Learning Approach for Dynamically Stable Inverse Kinematics of Humanoid Robots
S Phaniteja, Parijat Dewangan, Pooja Guhan +2
Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This…
Design and optimal springs stiffness estimation of a Modular OmniCrawler in-pipe climbing Robot
Akash Singh, Enna Sachdeva, Abhishek Sarkar +1
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with…
COCrIP: Compliant OmniCrawler In-pipeline Robot
Akash Singh, Enna Sachdeva, Abhishek Sarkar +1
This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holon…