Anupam Saxena

Compliant and Robotic Systems (CARS) Laboratory
Faculty Building #361
Indian Institute of Technology Kanpur 208016
Tel: 91-512-259(679)-7205 (O), 91-512-259(679)-7397 (L)

Flapping Wing Mechanism


Compliant and Robotic Systems Laboratory

My aim is to find realizable solutions to design problems in areas of Compliant and Robotic Systems (CARS) with applications in product design, precision instrumentation, sensing and actuation, MEMS/NEMS, bio-medical devices, humanoid robotics, exploration, surveillance, search and rescue, transportation, prosthetic and orthotic/exoskeletal devices. I derive my inspiration from designs in nature, which amongst having many interesting attributes, are sustainable (time tested and robust) and exemplify integration of subsystems of a variety of properties and scales.

Interests: Design of compliant mechanisms and MEMS, Structural Topology Design/Optimization,Computer Aided Engineering Design and Graphics, Geometrically/Materially Large displacement Finite Element Analysis, Robotics, Kinematics.


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Compliant Mechanisms (Research)

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J40. Prabhat Kumar. Roger A. Sauer. Anupam Saxena. 2016. Synthesis of C0 Path-Generating Contact-Aided Compliant Mechanisms Using the Material Mask Overlay Method. ASME Journal of Mechanical Design. in press.

J39. Mayank Goswami. M. Shakya S. Saxena A. Munshi M. 2015. Optimal Spatial filtering schemes and compact tomography setups. ASNT Journal of Research in Nondestructive Evaluation. in press.

J38. Kumar. P and Saxena A. 2015. Embedded Boundary Smoothing in Topology Optimization with Hexagonal Tessellation and Negative Masks. Structural and Multidisciplinary Optimization. available online: DOI 10.1007/s00158-015-1272-6.

J37. Goswami M. Shakya S. Saxena A. Munshi P. 2015. Reliable reconstruction strategy with higher grid resolution for limited data tomography. NDT and E International. 72. pp. 17-24.

J36. Goswami M. Munshi P. Khanna A. Saxena A. 2015. Non-uniform Arrangement of Emitter-Receiver Pairs Arrangement and Compact Ultrasonic Tomography Setup. IEEE Sensors. Sensors Journal. 15(2). pp. 1198-1207.

J35. Goswami M. Munshi P. Saxena A. Gupta M.K. Kumar A. 2014. Plasma Diagnostics at Aditya Tokomak by Two Views Visible Light Tomography. Fusion Engineering and Design. 89(11). Nov 2014, pp. 2659-2665. ISSN 0920-3796.

J34. Mergel. J. C. Sauer. R. A. and Saxena A. 2014. Computational optimization of adhesive microstructures based on a nonlinear beam formulation. Structural and Multidisciplinary Optimization. 50(6). 1001-1017.

J33. Goswami. M. Saxena A. and Munshi. P. 2014. A new grid based tomographic method for two-phase flow measurements. Nuclear Science and Engineering. 176 (1-14).ISSN 0029-5639.

J32. Goswami M. Munshi P. Saxena A. 2011. Void fraction measurement using entropy maximization approach, experimental and computational two phase flow. Transaction of American Nuclear Society. 104 (1094-1095). ISSN: 0003-018X.

J31. Saxena A. 2013. Contact-Aided Compliant Displacement-Delimited Gripper Manipulators. ASME Journal of Mechanisms and Robotics. 5(4).041005.1-041005.12.

J30. Orlando M F. Dutta A. Saxena A. Behera L. Shibata T. 2013. Manipulability Analysis of Human Thumb. Index and Middle fingers in Cooperative 3D Rotational Movements. Robotica. accepted. Available on CJO.doi: 10.1017/S0263574713000064.

J29. Shinde V R. Dutta A. Saxena A. 2013. Experiments on multi-agent capture of a moving object using projective path planning. Robotica. 31(2).pp. 267-284

J28. Saxena A. Valero-Cuevas F J. Lipson H. 2012. Functional inference of complex anatomical tendinous networks at a macroscopic scale via sparse experimentation. PLOS Computational Biology. 8(11): p.1-17

J27. Saxena A. and Sauer. R.A. 2012. On combined Gradient-Stochastic Search for Topology Synthesis using the Material Mask Overlay Method. International Journal for Numerical Methods in Engineering. in press.DOI: 10.1002/nme.4401

J26. Reddy BVS Nagendra. Naik Sujitkumar V. Saxena A. 2012. Systematic Synthesis of Large Displacement Contact Aided Monolithic Compliant Mechanisms. ASME Journal of Mechanical Design. 134(1). pp.011007-1-12

J25. Saxena A. 2011. Topology Optimization with Negative Masks using Gradient Search. Structural and Multidisciplinary Optimization. 44 (5). pp. 629-649

J24. Sujit KVN. Saxena A. Rai A K. Reddy BVS Nagendra. 2011. How to Choose from a Synthesized Set of Path- Generating Mechanisms. ASME Journal of Mechanical Design. 133(9)

J23. Saxena A. 2011. Kempes Linkages and the Universality Theorem. Resonance. 16 (3). pp. 220-237. DOI:10.1007/s12045-011-0028-x.

J22. Saxena A. 2011. An Adaptive Material Mask Overlay Method: Modifications and Investigations on Binary. Well Connected Robust Compliant Continua. ASME Journal of Mechanical Design. 133 (4). pp. 041004-1-11

J21. Saxena A. 2011. Are Circular Shaped masks Adequate in Adaptive Mask Overlay Topology Synthesis Method. ASME Journal of Mechanical Design. 133(1). pp. 011001-1-11.

J20. Mannepalli S. Dutta A. Saxena A. 2010. A multi-objective GA based algorithm for 2D form and force closure grasp of prismatic objects. International Journal of Robotics and Automation. 25 (2). DOI: 10.2316/Journal.206.2010.2.206-3359

J19. Khan H. Sinha P. Saxena A. 2009. A Simple Algorithm for ThermoElastohydrodynamic Lubrication Problems. International Journal of Research and Reviews in Applied Sciences. Volume 1. Issue 3 (December. 2009). 265-279.

J18. Rai A K. Saxena A. Mankame N D. 2010. Unified synthesis of compact planar pathgenerating linkages with rigid and deformable members. Structural and Multidisciplinary Optimization. 41:863879.

J17. Jain C. Saxena A. 2010. An Improved Material-mask overlay strategy for Topology Optimization of Structures and Compliant Mechanisms. ASME Journal of Mechanical Design. 132 (6). 061006-1-10.

J16. Saxena R. Saxena A. 2009. Design of Electro-Thermally Compliant MEMS with Hexagonal Cells using Local Temperature and Stress Constraints. ASME Journal of Mechanical Design. Volume 131. Issue 5. 051006 (10 pages). doi:10.1115/1.3087544

J15. Saxena A. 2008. A Material-Mask Overlay Strategy for Continuum Topology Optimization of Compliant Mechanisms using Honeycomb Discretization. ASME Journal of Mechanical Design. Volume 130. Issue 8. 082304 (9 pages) doi:10.1115/1.2936891

J14. Sharma P. Saxena A. Dutta A. 2008. Optimal Arrest and Guidance of a Moving Prismatic Object using Multi-Agents; Robotica. Volume 26. Issue 1. pp - 41-53

J13. Bansal S K. Malik P. Saxena A. and Reddy N V. 2008. Modular Fixture Planning for Minimum Three-dimensional Tolerances. International Journal of Production Research. Volume 46. Issue 6 March 2008. pages 1455 - 1476

J12. Saxena R. Saxena A. 2007. On Honeycomb Representation and SIGMOID Material Assignment in Optimal Topology Synthesis of Compliant Mechanisms. Finite Elements in Analysis and Design. Volume 43. Issue 14. Pages: 1082-1098

J11. Valero-Cuevas F J. Anand V. Saxena A. Lipson H. 2007. Beyond parameter estimation: Extending biomechanical modeling by the explicit exploration of model topology. IEEE Transactions of Biomedical Engineering. Nov;54(11):1951-64.

J10. Srivastava M. Dutta A. Saxena A. 2007. Trajectory generation using GA for an 8 DOF biped robot with deformation at the sole of the foot. Journal of Intelligent and Robotic Systems. 49. pp 67-84

J9. Rai A K. Saxena A. Mankame N D. 2007. Synthesis of Path Generating Compliant Mechanisms using Initially Curved Frame Elements. ASME Journal of Mechanical Design. Vol. 129. pp. 1056-1063

J8. Tuli M. Reddy N.V. Saxena A. 2006. Constrained Shape Modification of B-Spline curves. Computer-Aided Design and Applications. Vol. 3. N (1-4). pp 437-446.

J7. Saxena A. 2005. Topology Design of Large Displacement Compliant Mechanisms with Multiple Materials and Multiple Output Ports. Structural and Multidisciplinary Optimization. Vol. 30 (6). pp. 477-490.

J6. Saxena A. 2005. Synthesis of Compliant Mechanisms for Path Generation using Genetic Algorithm. ASME Journal of Mechanical Design. Vol. 127. July 2005. pp 1-8.

J5. Saxena A. and Ananthasuresh. G. K. 2003. A Computational Approach to the Number Synthesis of Linkages. ASME Journal of Mechanical Design. Vol. 125. pp 1-10.

J4. Saxena A. and Ananthasuresh G K. 2001. Topology Design of Compliant Mechanisms with Strength Considerations. Mechanics of Structures and Machines. 29(2). pp. 199-221

J3. Saxena. A. and Ananthasuresh. G. K. 2001. Topology Synthesis of Compliant Mechanisms for Nonlinear Force-Deflection and Curved Output Path. ASME Journal of Mechanical Design. March 2001. Vol. 123. pp 33-42.

J2. Saxena A. Ananthasuresh G K. 2000. On an Optimality Property of Compliant Topologies. Structural and Multidisciplinary Optimization. 19 (1). pp. 36-49.

J1. Saxena A. Kramer S N. 1998. A Simple and Accurate Method for Determining Large Deflections in Compliant Mechanisms subjected to End Forces and Moments. ASME Journal of Mechanical Design. 120(3). pp. 392-400.

Computer Aided Engineering Design, ME 751 (course page)

Technical Arts, 101 (course page)

Kinematics of Machines and Mechanisms, ME 352, ME352a (course page)

Programming and Numerical Methods, ME 685

Mathematical Methods in Engineering, ME 681

Mechanics of Solids, ESO 204

Advanced Mechanics of Solids, ME 321n

Design of Machine Elements, ME 351n

Compliant Mechanisms, ME 851

Communication Skills, ME 399a (broad contents)

Members, Compliant Mechanisms and Robotic Systems

Ongoing, PhD

Kumar, Prabhat

BVS Nagendra Reddy


Ongoing, Masters

Abhishek Sharma

Amul Agarwal

Ajay Bajaj



Dr. Mayank Goswami

Dr. Orlando Felix

Dr. Hashim Khan

Anuj Agarwal

Hrishikesh Raste

Shyam Sundar Nishad

Sharad Singhania

Ved Prakash Chowdhary

Pranay Sharma

Amit Srivastava

BVS Nagendra Reddy

Sujit Kumar Naik

VijaySingh R Shinde

Ashok Kumar Rai

Pankaj Sharma

Chandra Prakash Mishra

Mukul Tuli

Anjul Beohar

Maitray Srivastava

Prince Mallik

Rajat Saxena

Gaurav Seth

Amitesh Mishra

Shelley Goel

Autumn Allen