Dr. Ashish Dutta

Indian Institute of Technology

 
 
Dr. Ashish Dutta
Professor, Dept. of Mechanical Engineering
Head, Computer Centre
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

Lunar Rover:

 

Design & Kinemetic.

 

3D terrain generation using structure light and vision system.

 

Path palnning of lunar rover.

 

Path tracing and error correction.

 

 

Structured Light Scanning of surface and path planing:

 

 

 

 

Multi agent Systems:

 

Optimal capture of a moving object by a group of mobile robots.

 

Optimal pushing of a captured robot to a goal point.

 

Development of vision based control algorithms for optimal path planning.

 

a b

 

Fig. Robots developed in our labs for multi agent systems research

 

b

 

                 Fig. Optimal capture of a moving object using the least number of robots and pushing it

                         optimally to a desired goal point.

 

Vision based Intelligent control:

 

Real time vision based capture of deforming and moving objects  by a three finger robot hand.

 

a         b c d

 

Fig. Optimal capture points satisfying force closure, best points found in real time on a deforming object.

 

 

Robot human Interaction and fingertip sensors:

 

Development of fingertip sensors and impedance controllers for human like motion.

 

       

 

 

Relevant publications in this area:

  •  

    Pankaj Sharma, Anupam Saxena, Ashish Dutta. Optimal arrest and guidance of a moving prismatic object using multi agents, Robotica, 2008, vol. 26, no. 1.

     

    Tripures Mishra, Prithwijit Guha, Ashish Dutta and K. S. Venkatesh. “Stochastic Re-grasp Planning for Vision Aided Capture of

    Deforming and Moving Objects”. Mechatronics, 2009 (In Press). 


  • 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.


  • 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.