This project work was done under the guidance of Dr. P. Venkitanarayanan in Experimental Stress Analysis Laboratory, IIT Kanpur. It was under Students-Undergraduate Research Graduate Excellence(SURGE) program for Summer’17.

System Identification and Control Design of 18 Wheeled Truck

Published: August 01, 2018

This project work was done under the guidance of Prof. Srikanth Saripalli in Unmanned Systems Lab, Mechanical Engineering, Texas A&M University. It was under TAMU-IITK Exchange Program for Summer’18 (Halliburton Engineering Global Programs Scholarship).

Course Projects

Published: January 01, 2019

This section includes all major projects done in Graduate level courses.

IITK Motorsports

Published: January 01, 2019

This project was done as a member of SAE Club, IIT Kanpur under Dr. Santanu De, Mechanical Engineering.

Pursuit Evasion Games

Published: January 01, 2020

Will Update Soon. Work in progress…

All Wheel Drive, All Wheel Steer Electric Vehicle

Published: July 01, 2020

This project was done under the guidance of Prof. Shakti S. Gupta and Prof. Ramprasad Potluri as a Student Research Associate, IIT Kanpur. The project was funded by the Department of Science and Technology (DST), Government of India.

publications

Path Tracking Strategy for Quadruped Robots Using a Hierarchical Framework

Published in 7th International Conference on Advances in Control and Optimization of Dynamical Systems ACODS 2022, 2022

Abstract: We present a general path tracking strategy, with continuous gaits, for quadruped robots on flat and rigid terrain. We use a hierarchical framework to decompose the task into unique motion templates (actions) such as translation and turning. A Linear Inverted Pendulum Model (LIPM) based algorithm is applied to create physically correct actions while minimizing the sum of squared accelerations of the CoM. These actions are stored in an online action library and are combined using an autonomous steering system that decides when to use which action. The steering system also computes the input parameters for these actions. We also develop transition maneuvers to execute a smooth switching between these actions. This strategy can help reduce the repeated need to perform comprehensive online computation for motion planning. Moreover, one can enrich the action library to execute more complicated tasks involving different gaits and non-flat terrain. We use an 18 DoF quadruped robot model, and simulations are carried out in MATLAB to demonstrate the capabilities of this approach.

Recommended citation: Amritanshu Manu, Shakti S. Gupta, Mangal Kothari, Path Tracking Strategy for Quadruped Robots Using a Hierarchical Framework, IFAC-PapersOnLine, Volume 55, Issue 1, 2022, Pages 192-197, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2022.04.032. https://www.sciencedirect.com/science/article/pii/S2405896322000325

teaching

Dynamics

Compulsory Undergraduate Course, Department of Mechanical Engineering, IIT Kanpur, 2020

Acted as a bridge between the instructor and students ensuring smooth conduction of the weekly online problem discussion hours
Maintained the logistics of the assigned batch including participation in live discussions, assignments submission and attendance

Vibration and Control

Compulsory Undergraduate Course, Department of Mechanical Engineering, IIT Kanpur, 2023

Prepared questions for the assignments and written assessments throughout the course, covering topics such as the vibration of multi-degree-of-freedom systems and classical control theory
Conducted classroom sessions to help the students resolve doubts related to the assignments

Robotics and Control: Theory and Practice

NPTEL Online Course, Department of Mechanical Engineering, IIT Roorkee, 2023

As a part of the PMRF teaching duties, conducted weekly sessions for NPTEL scholars for eight weeks
The recorded live sessions can be accessed here.