Dr. Ashish Dutta

Indian Institute of Technology

Dr. Ashish Dutta
Professor, Dept. of Mechanical Engineering
Office: Faculty Building Room 338
Phone:91-512-2597562 (Off.), 2598710 (Res)
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




                 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.