Dr. Ashish Dutta

Professor, Dept. of Mechanical Engineering

Email:adutta@iitk.ac.in

Office: Faculty Building Room 338
Phone:91-512-2597562 (Off.), 2598710 (Res)
Fax:91-512-2597408

Affiliated Center(s):

Centre for Mechatronics

Humanoid Robotics

Objectives: Energy optimal trajectory generation for climbing stairs, walking on flat ground using Genetic Algorithms.

New optimal design of biped robots with soft sole, compliant links, torsion springs at the joints etc. for reduced

energy consumption during walk.

Design of learning based controllers using NN, Reinforcement learning etc.

Fig. The statically stable biped robot having 4 DOF, CAD model and fabricated robot that can walk straight and turn.

Fig. The 8 DOF robot developed that can walk, climb stairs etc. based on the Zero Moment Point control.

Fig. Energy optimal stair climbing

Fig. Energy optimal trajectory of a biped robot with soft sole for reduced energy consumption during gait.

Fig. New biped design with torsion springs at the joints for reduced energy consumption during walk.

Relevant publications in this area:

M. Shrivastava, A. Dutta, A. Saxena. “Trajectory generation using GA for an 8 DOF biped robot with deformation at the sole of the foot”, Journal of Intelligent and Robotic Systems, Vol.49, no.1, 2007, pp.67-84.

P. Kulkarni, D. Goswami, P. Guha and A. Dutta. “Path planning for a statically stable biped robot using PRM and Reinforcement learning”, Journal of Intelligent and Robotic Systems, vol. 47, 2006, pp. 197-214.

Dip Goswami, A. Dutta, L. Behera, “Dynamic Walking of Eight DOF Biped using neural Net Controller”, Proceeding of the SICE International Conference on Instrumentation, Control and Information Technology, Okayama, Japan, 2005, pp. 1885-1890.

S. Diwedi, A. Dutta, A. Mukerjee, P. Kulkarni “Development of a Speech Recognition System for Control of a Biped Robot”, Proceedings of the IEEE ROMAN, Kurashiki, Japan, 2004, pp. 601-605.