Dr. Ashish Dutta

Indian Institute of Technology

 
 
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
Research Associate: Biswanath Panda, Anupam Sana
Affiliated Center(s):
 Centre for Mechatronics

Publications
Books/ Book Chapters|| International Journals ||International Conference

Books :

 

  • Industrial Robotics. M.P Grover, A. Dutta, McGraw Hill (India), 2012.

  • Robotics Systems. A. Dutta (ed.) Advanced Robotic Systems Publications, Austria, EU, 2012.

  • Vision Systems: Segmentation and Pattern Recognition. G. Obinata and A. Dutta (ed.) Advanced Robotic Systems Publications, Austria, EU, 2007.

  • Vision Systems: Applications. G. Obinata and A.Dutta (ed.) Advanced Robotic Systems Publications, Austria, EU, 2007.

 

Book Chapters :

 

  • Makoto Sasaki, Takehiro Iwami, Kazuto Miyawaki, Ikuro Sato, Goro Obinata and Ashish Dutta. “Vertex search algorithm of convex polyhedron representing upper limb manipulation ability”. Search Algorithms, INTECH, Publications, Austria, EU, 2011. 

  • Makato Sasaki, Goro Obinata, Takehiro Iwami, Kazuto Miyawaki, Ikuro Sato, Ashish Dutta. "Higher dimensional spatial estimation of upper limb manipulation ability based on human joint torque characteristics" in Robot Manipulators New Achievements (ed. A. Lazinika and H. kawai), INTECH, Publications, Austria, EU, 2010.

  • G. Obinata, A. Dutta, N. Watanabe and N. Moriyama, "Vision Based Tactile Sensor Using Transparent Elastic Fingertip for Dexterous Handling", in Mobile Robotics: Perception and Navigation ed. Sascha Kolski, Advanced Robotic Systems International Publications, Austria, EU, 2006.

  • A. Dutta, G. Obinata and S. Terachi. "Active vision based regrasp planning for capture of a deforming object", in Vision Systems: Applications. G. Obinata and A. Dutta (ed.), Advanced Robotic Systems Publications, Austria, EU, 2007.

 


  • Mahesh Kumar Singh, K. S. Venkatesh, Ashish Dutta.” Kernal based approach for accurate surface estimation using laser scanner data”.  Computers & Electrical Engineering, 2016

 

  • Rekha Raja, AShish Dutta, K.S. Venkatesh. “New potential field method for rough terrain path planning using a Genetic Algorithm for a 6- wheel rover”. Robotics and Autonomous Systems, vol. 72, 2015, pp. 295-306.

 

  • Abhishek Sarkar, Ashish Dutta. “8-DOF Biped Robot with Compliant-Link.” Robotics and Autonomous systems, vol. 63, 2015, pp. 57-67.

 

  • Ajahar Khana, Inamuddina, Mohammad Luqmanb, Ashish Dutta. “Kraton based Ionic Polymer Metal Composite (IPMC) Actuator”.  Sensors & Actuators: A. Physical, vol. 216, 2014, pp. 295-300.

 

  • R. K. Jain, S. Datta, S. Majumder, A. Dutta. “Development of Multi Micro Manipulation System Using IPMC Micro Grippers”. Journal of Intelligent and Robotic Systems, vol. 74, 2014, pp. 547-569.

 

  • M. Felix Orlando, Ashish Dutta, Anupam Saxena, Laxmidhar Behera, Tomoya Tamei, Tomohiro Shibata. “Manipulability Analysis of Human Thumb, Index and Middle Finger in Cooperative 3D Rotational Movements of a Small Object”,  Robotica, vol. 31, 2013, pp. 797-809.

 

  • R. K. Jain, S. Majumder and Ashish Dutta. “SCARA Based Peg-in-hole Assembly Using Compliant IPMC Micro Gripper”. Robotics and Autonomous Systems, Vol. 61, 2013, pp. 297-311.

 

  • Vijaysingh Shinde, Ashish Dutta and Anupam Saxena. “Experiments on multi-agent capture of a stochastically moving object using modified projective path planning“, Robotica, vol. 31, no. 2, 2013, pp. 267-284.

 

  • R. K. Jain , S. Majumder and A. Dutta. “Micro assembly by an IPMC based flexible 4-bar mechanism”. Smart Materials and Structures, vol. 21, no. 7, 2012.

 

  • R. K. Jain, S. Majumder and A. Dutta. “Multiple path generation by a flexible 4-bar mechanism using ionic polymer metal composite”. Journal of Intelligent Material Systems and Structures, Vol. 23, no. 12, 2012, pp. 1379-1393.

 

  • R. K. Jain, S. Datta, S. Majumder, A. Dutta. “Two IPMC fingers based micro gripper for handling”.  International Journal of Advanced Robotic Systems, vol. 8, no. 1, 2011, pp. 1-9.

 

  • Swagat Kumar, Premkumar P., Ashish Dutta, L. Behera. “Visual motor control of a 7DOF redundant manipulator using redundancy preserving learning networks”, Robotica, vol. 28, 2010, pp. 795-810.

 

  • Biswanat Panda, Ashish Dutta. “Design of a Partially Compliant Crank Rocker Mechanism Using Ionic Polymer Metal Composite for Path Generation”, Materials & Design, vol. 31, 2010, pp. 2471-2477.

 

  • S. Manepalli, Ashish Dutta, Anupam Saxena. “Multi-objective GA based algorithm for 2D form and force closure grasp of prismatic objects”. International Journal of Robotics and Automation, vol. 25, no. 2, 2010, pp. 142-154.

 

  • Tripures Mishra, Prithwijit Guha, Ashish Dutta and K. S. Venkatesh. “Stochastic Re-grasp Planning for Vision Aided Capture of Deforming and Moving Objects”. Mechatronics, vol. 19, no.4, 2009, pp.510-519. 

 

  • D. Bandopadhya, A. Dutta, B. Bhattacharya. “Pseudo-rigid body modeling of IPMC for a partially compliant 4-bar mechanism for work volume generation”. Journal of Intelligent Material Systems and Structures, Vol. 20, no. 1, 2009, pp. 51- 62.

 

  • Pankaj Sharma, Anupam Saxena, Ashish Dutta. “Optimal arrest and guidance of a moving prismatic object using multi-agents”, Robotica, vol. 26, no.1, 2008, pp. 41- 53.

 

  • Atsuo Ogawa, Goro Obinata, Kazunori Hase, Ashish Dutta and Miyoshi Nakagawa. “Design of Lower Limb Prosthesis for Controlling Contact Pressure by MR Fluid”. Transactions of the Japan Society of Mechanical Engineers, 2008, vol. 74(746), pp. 2562-2569.

 

  • Dibakar Bandopadhya, Bishakh Bhattacharya, Ashish Dutta. “Active vibration control strategy for a single link flexible manipulator using ionic polymer metal composites”, Journal of Intelligent Material Systems and Structures, vol.19, 2008, pp.487-496.

 

  • D. Bandopadhya, B. Bhattacharya, A. Dutta. “An Active Vibration Control Strategy for a Flexible Link Using Distributed Ionic Polymer Metal Composites”, Smart Materials and Structures, Vol.16, 2007, pp. 617-625.

 

  • 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, 2007, pp. 67-84.

 

  • D. Bandopadhya, B. Bhattacharya, A. Dutta. “Modeling of Hybrid Damping Scheme Using Smart Magnetostrictive Composites for Flexible Manipulator", Journal of Reinforced Plastics and Composites, Vol. 26, No. 9, 2007, pp. 861-880.

 

  • D. Bandopadhya, B. Bhattacharya, A. Dutta. “ Characterization of IPMC as passive nad active damper as an alternative novel smart actuator”, Journal of Reinforced plastics and Composites, 2008, doi:10.1177/0731684407084210.

 

  • 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.

 

  • S. Garg and A. Dutta. “Grasping and manipulation of deformable objects based on internal force requirements”, International Journal of Advanced Robotic Systems, Vol.3, No.2, 2006, pp. 107-114.

 

  • D. Bandopadhya , Ashish Dutta and B. Bhattacharya. "Active vibration control using terfenol-D with H-infinity filter". International Journal of Engineering Modeling, Vol.19, no. 1-4, 2006, pp. 33-42.

 

  • G. Obinata and Ashish Dutta. "A two-finger gripper for robot human cooperation". Life Support, Vol.15, no.2, 2003, pp. 5-12.

 

  • Ashish Dutta and G. Obinata. "Impedance Control of a Robotic Gripper for Cooperation with Humans". Control Engineering Practice, vol.10, no. 4, 2002, pp. 379 – 389.   

 

  • Ashish Dutta and G. Obinata. “The way we grasp an object affects the static grasping forces". Japanese Journal of Ergonomics, vol. 38, no.3, 2002, pp. 168-170.

 

  • Ashish Dutta and Goro Obinata. "The static grasping forces depend on the size of the grasped object". Japanese Journal of Ergonomics, vol. 38, no. 3, 2002, pp. 171-174.

     

 

  • Anirbam Chaudhury, Haider Raza, Ashish Dutta, Girijesh Prasad, Shyam Sunder Nishad, Anupam Saxena. “A study on cortico muscular coupling in finger motion for exoskeleton assisted neuro rehabilitation”. Proceedings of the IEEE Engineering in Medicine and Biology Conference, Italy, 2015.

 

  • Mahesh Kr Singh, K.S. Venkatesh and Ashish Dutta.“A New Method for Calibration of Range Sensor and Terrain Classification”. IEEE International Conference on Image Information Processing (ICIIP), 2015.

 

  • Shyam Sunder Nishad, Anupam Saxena and Ashish Dutta. “Design and control of a three finger hand exoskeleton for translation and rotation of a slender object.” Proceedings of the ASME International Design Engineering Technical Conference, Boston, USA, 2015, DETC2015-47058.

 

  • Mahesh Kr Singh, K.S. Venkatesh and Ashish Dutta. Accurate Rough Terrain Modeling from Fused 3D Point Cloud Data”. IEEE India International Conference (INDICON-15), 2015.

 

  • Mahesh Kr Singh, K.S. Venkatesh and Ashish Dutta. A New NBV Method For 3D Modeling of Unknown Objects”. IEEE International Conference on Image Information Processing (ICIIP), 2015.

 

  • Raja, Rekha, Arjun Bhasin, and Ashish Dutta. "Non-holonomic mobilemanipulator control using hybrid simulated annealing", IEEE WIECON-ECE, Bangladesh, 2015.

 

  • Raja, Rekha, Bhaskar Dasgupta, and Ashish Dutta. "Motion planning and redundancy resolution of a rover manipulator", IEEE WIECON-ECE, Bangladesh, 2015.

 

  • Mahesh Kr Singh, K.S. Venkatesh and Ashish Dutta. Range Data Fusion for Accurate Surface Generation from Heterogeneous Range Scanners”. 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO-2015), Colmar, France, 2015.

 

  • Mahesh Kr Singh, K.S. Venkatesh and Ashish Dutta. “Kernel Based Method for Surface Estimation Using Laser Scanner Data”. 5th IEEE International Conference on Communication and Signal Processing (ICSSP), 2015.

 

  • Manavaalan Gunasekaran, Ramprasad Potluri, and Ashish Dutta. "Path Tracking Control of a Moon Rover". Indian Control Conference. Proceedings of IEEE, India. January 2015.

 

  • Arjun Bhasin, Ashish Dutta. “Redundancy resolution and control of a non-holonomic mobile manipulator system using kinnet mounted on UAV”. Proceeding of the International Conference - Advances in Robotics - 2015.

 

  • Shyam Sunder Nishad, Ashish Dutta, Anupam Saxena. “Design and Control of a Three Finger Hand Exoskeleton for Translation of a slender object”. Proceedings of the International Conference on Ubiquitous Robots and Ambient Intelligence, Kuala Lumpur, Malaysia 2014, pp. 179- 184.

 

  • Mahesh Kumar Singh, K.S. Venkatesh and Ashish Dutta, “Accurate 3D Terrain Modeling by Range Data Fusion from Two Heterogeneous Range Scanners”. INDICON, 2014.

 

  • Abhishek Sarkar, N. N. Kishore, Ashish Dutta. “8-DOF biped robot with compliant links”. Proceedings of the International conference on control, automation, robotics and vision, Singapore, 2014, pp. 1195-1200.

 

  • Rekha Raja, Ashish Dutta, Bhaskar Dasgupta. “KSOM based learning for cooperative motion of a redundant rover manipulator on an uneven terrain”. Proceedings of the International conference on control, automation, robotics and vision, Singapore, 2014, pp. 1677-1682.

 

  • Ravi Kant Jain, S. M. Majumdar and Ashish Dutta. “Active 4 DOF based RCC wrist using segmented IPMC’s for robotic peg-in-hole assembly”. Proceedings of the SICE Annual conference, Nagoya, Japan, 2013, pp. 2625 – 2632.

 

  • Jimson Ngeo, Tomoya Tamei, Tomohiro Shibata, Felix Orlando M., Laxmidhar Behera, Anupam Saxena, Ashish Dutta. “Control of an Optimal Finger Exoskeleton based on Continuous Joint Angle Estimation from EMG signals”. Proceedings of the IEEE International Conference on Engineering in Medicine and Biology, Osaka, Japan 2013.

 

  • Raja, Rekha, and Ashish Dutta. "Path Planning Algorithm for a Planetary Rover with Fuzzy Logic Adaptation and a Combination of A* and Potential Field Method.", IEEE Workshop On Computational Intelligence: Theories, Applications and Future Directions,  India, pp. 190-194, 2013.

 

  • Parth Nanadikar, Rahul Shome, Ashish Dutta. “A potential filed based method for autonomous lunar rover navigation in 3D terrain”. 26th International Conference on CAD/CAM and Factories of the Future, Malaysia, 2011, pp.767-776 . 

 

  • M. F. Orlando, Ashish Dutta, Anupam Saxena, L. Behera, Tomohiro Shibata and Tomoya Tamei. ”Design and development of a three finger hand exoskeleton”, Robotics Society of Japan Annual Conference, Tokyo, Japan, 2011.

 

  • Vikalp Sachan, K.S. Venkatesh, Ashish Dutta. “Structured light based navigation on rocky terrain for a six wheel lunar rover”. 26th International Conference on CAD/CAM and Factories of the Future, Malaysia, 2011, pp. 697-705.

 

  • Harjinder Singh, Anjali Kulkarni, Ashish Dutta. “Design and experiments of a six wheel lunar rover for motion on uneven terrain”. 26th International Conference on CAD/CAM and Factories of the Future, Malaysia, 2011, pp. 739-746.

 

  • M.F. Orlando, H. Akholkar, A. Dutta, A. Saxena and L. Behera. “Optimal design and control of a thumb exoskeleton”. IEEE TENCON, Fukuoka, Japan, 2010.

 

  • Shrikant Parakh, Pankaj Wahi and Ashish Dutta. “Velocity kinemtics of a rocker-bogie type planetary rover”. IEEE TENCON, Fukuoka, Japan, 2010, pp. 939-944.

 

  • Himanshu Singh, Vipul Arora, Laxmidhar Behera, Ashish Dutta. “Face Feature Tracking with Automatic Initialization and Failure Recovery”. IEEE Conference on Cybernetics and Intelligent Systems, 2010, pp. 96-101.

 

  • Himanshu Singh, Vipul Arora, Laxmidhar Behera, Ashish Dutta.” A System of Systems Approach in Face feature Tracking for Real Time Applications”. IEEE International Conference on System of Systems Engineering, UK,  2010.

 

  • M. F. Orlando, H. Akholkar, A. Dutta, A. Saxena and L. Behera. “Optimal design and control of a hand exoskeleton for rehabilitation of stroke patients”. IEEE International Conference on Robotics, Automation and Mechatronics, Singapore, 2010.

 

  • Santosh Pratap Singh, Ashish Dutta and Anupam Saxena. “Design of a biped robot with torsion springs at the joints for reduced energy consumption during walk”. ASME International Design Engineering Technical Conference, San Diego, USA, 2009.

 

  • Meenakshi Gupta, T Naveen Kumar, Laximidhar Behera, K S Venkatesh and Ashish Dutta. “Environment Modelling in Mobile Robotics through Takagi-Sugeno Fuzzy Model, Irish Signals and Systems Conference, Ireland,  2009.

 

  • Atsuo Ogawa, Goro Obinata, Kazunori Hase, Ashish Dutta, Miyoshi Nakahawa. "Design of Lower Limb Prosthesis with contact pressure function by MR fluid". Proceedings of the  IEEE International Conference of Engineering in Medicine and Biology, Aug. 20-24, Canada, 2008, pp. 330-333. 

 

  • Swagat Kumar, Amit Shukla, Ashish Dutta, Laxmidhar Behera. “A model-free redundancy resolution technique for visual motor coordination of a 6 DOF robot manipulator”, Proceedings of the IEEE International Symposium on Intelligent Control, Singapore, 2007.

 

  • Ogawa, A., Obinata, G., Hase, K., Dutta, A. and Nakayama, A., Measurement of Contact Force between Inner Socket and Skin of Lower Limb in Below-Knee Prosthesis, Proceedings of Mechanical Engineering Congress Japan, Vol.6, No.07-1, 2007, pp.53-54.

 

  • Ogawa, A., Obinata, G., Hase, K., Dutta, A. and Nakayama, A., “Measurement of Contact Force between Socket and Stump of Lower Limb in Below-Knee Prosthesis”, Proceedings of the 22nd Japanese Conference on the Advancement of Assistive and Rehabilitation Technology,  2007, pp.113-114.

 

  • Dutta and G. Obinata. “Form closure regrasp planning for capture of a slowly moving deforming object”, Proceedings of the IEEE IFAC International conference on Methods and Models in Automation and Robotics, Poland, 2007.

 

  • P. Sharma, A. Saxena, A. Dutta. “Obstacle avoidance, arrest and guidance of a prismatic 2D object using multi agents”, Proceedings of the SICE International Conference on Instrumentation, Control and Information Technology, Kagawa, Japan, 2007, pp.  1053-1057.

 

  • P. Aggarwal, A. Dutta , B. Bhattacharya. “Cooperation between a 4 DOF robotic hand and a human”, Proceedings of the SICE International Conference on Instrumentation, Control and Information Technology, Kagawa, Japan, 2007, pp. 2354- 2359.

 

  • Pankaj Sharma, Anupam Saxena, Ashish Dutta , “Multi agent form closure capture of a generic 2D polygonal object based on projective path planning,” Proceedings of the ASME 2006 International Design Engineering Technical Conferences, Philadelphia,  USA, Sept., 2006, pp.1-8.

 

  • D. Bandopadhya, A. Dutta, B. Bhattacharya, “Active vibration suppression for a flexible link using IPMC”, Proceedings of the IEEE International Conference on Robotics, Automation and Mechatronics, Bangkok, 2006, pp. 28-33.

 

  • Pankaj Sharma, Ashish Dutta, Anupam Saxena, “Determination of Optimal Contact Points for Constraining a Prismatic Object by a Group of Mobile Robots”, Proceedings of the IEEE International Conference on Robotics, Automation and Mechatronics, Bangkok, 2006, pp. 86-90.

 

  • T. Mishra, P. Guha, A. Dutta, and K.S. Venkatesh. “Efficient continuous re-grasp planning for moving and deforming planar objects”, Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, 2006, pp.  2472 – 2477.

 

  • D. Goswami, L. Behera and Ashish Dutta, “Simulation and Experiments on a Robot Arm”, Proceedings of the International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS), Singapore, 2005.

 

  • 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.

 

  • Ashish Dutta, Pankaj Mukhija , “Grasping and Manipulation of Deformable Objects by a Three Finger Hand”, Proceeding of the SICE International Conference on Instrumentation, Control and Information Technology, Okayama, Japan, 2005, pp. 840-845.

 

  • 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.

 

  • M. Maheshwari, P.Guha, A. Dutta, “Development of an advanced Teleoperator using an exoskeleton, FES, and Vision System”, National Conference on Advanced Manufacturing and Robotics, 2004, India, pp. 162-167.

 

  • P. Kulkarni, A. Dutta, A. Mukerjee , “Development of an Intelligent Statically Stable Humanoid Robot”, National Conference on Advanced Manufacturing and Robotics, 2004, India, pp. 52-57.

 

  • Dutta and G. Obinata. “Variation of Initial Grasping Force with Length of an Object". Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication, Osaka, Japan, 2000, pp. 224-228.

 

  • Ashish Dutta, G.R. Muzumdar, V.T. Shirwalkar, K. Jayarajan, D. Venkatesh and M.S. Ramakumar. " Development of a Dextrous Gripper for Nuclear Applications". Proceedings of the IEEE International Conference on Robotics and Automation, New Mexico, USA, 1997, pp. 1536-1540.

 

  • K. Jayarajan, A. Dutta, D.C. Kar, R.Sahu, D.G.Zende, T.K.Bhaumik, D.Venkatesh and M.S.Ramakumar. " Design of a Telemanipulator for Radioactive Waste Management". Proceedings of the International Symposium in Intelligent Robotic Systems, Bangalore, India, 1998, pp. 213-218.

 

  • Ashish Dutta, G.R.Muzumdar, V.T.Shirwalkar, K.Jayarajan, D.Venkatesh and M.S.Ramakumar. "Force Control and Slip Detection using a Dextrous Gripper". Proceedings of the International Symposium on Intelligent Robotic Systems, Bangalore, India, 1998, pp. 55-59.

 

  • K. Jayarajan, D.G.Zende, T.K.Bhaumik, Ashish Dutta, Nirupam Das, D.Venkatesh and M.S.Ramakumar. "On the Design of a Telemanipulator for the Replacement of PHWR Coolant Channels", Proceedings of the International Symposium on Intelligent Robotic Systems, Bangalore, India, 1995, pp. 410-414.