R Prasanth Kumar
Professor
Department of Mechanical & Aerospace Engineering
Indian Institute of Technology Hyderabad

Education

Phd: IIT Kharagpur, 2007
MTech: IIT Kharagpur, 2002
BTech: NBKRIST (affiliated to SVU), 2000

Research Interests

Robotics, multibody dynamics, control systems, machine learning, reinforcement learning

Recent Publications

  1. Krishna Prakash Yadav and R Prasanth Kumar
    "Biped dynamic walker modeling and control for underactuated gait cycle,"
    International Journal of Dynamics and Control, in Press.

  2. Mangesh D Ratolikar and R Prasanth Kumar
    "Optimized Design of 5R Planar Parallel Mechanism for the Gait-Cycle of Quadruped Robots,"
    Journal of Vibroengineering, accepted.

  3. A P Hima Vamsi, Mangesh D Ratolikar and R Prasanth Kumar
    "Swinging Up and Balancing a Pendulum on a Vertically Moving Cart Using Reinforcement Learning,"
    IEEE Robotics and Biomimetics 2021, accepted.

  4. Mangesh D Ratolikar and R Prasanth Kumar
    "Neural network control of an inverted pendulum on a two DoF cart moving in the vertical plane,"
    IEEE ICRAE 2021, accepted.

  5. Mangesh D Ratolikar and R Prasanth Kumar
    "Optimal 5R parallel leg design for quadruped robot gait cycle,"
    Vibroengineering PROCEDIA, Vol. 35, pp 94-98, November 2020.

  6. Krishna Prakash Yadav and R Prasanth Kumar
    "Biped dynamic walker with alternate unpowered and partially powered steps in a gait cycle,"
    Vibroengineering PROCEDIA, Vol. 35, pp 27-32, November 2020.

  7. V. Janardhan and R. Prasanth Kumar
    "Generating real-time trajectories for a planar biped robot crossing a wide ditch with landing uncertainties,"
    Robotica, Vol. 37, No. 1, pp 109-140, January 2019.

  8. A Sripada, V. Janardhan, and R. Prasanth Kumar
    "Biped Robot Vertical Jumping with Control Constraints,"
    IEEE International Conference on Robotics and Biomimetics, pp. 1683-1687, 2018.

  9. V. Janardhan and R. Prasanth Kumar
    "Online trajectory generation for wide ditch crossing of biped robots using control constraints,"
    Robotics and Autonomous Systems, Vol. 97, pp 61-82, November 2017.

  10. V. Janardhan and R. Prasanth Kumar
    "Generating Feasible Solutions for Dynamically Crossing a Wide Ditch by a Biped Robot,"
    Journal of Intelligent and Robotic Systems, Vol. 88, No. 1, pp 37-56, October 2017.


Patents

  1. Walking Assistant Apparatus for High Walking Stability,
    Jungwon Yoon and Prasanth Kumar
    KIPO App No: 10-2009-0053211, Issue Date: 4/4/2011
  2. A Stiffened Flexible Manipulator Arm,
    R Prasanth Kumar and Rahul Dixit
    App No: 974/DEL/2014, Filed Date: 3/4/2014
  3. An Airborne Vacuum Cleaner,
    R Prasanth Kumar
    App No: E-2/956/2019/CHE, Filed Date: 26/3/2019
  4. Leg Assembly of a Robot,
    A V P Krishna Kanth Prabhu, Abhishek S Nalwarkar, P Naveen Sagar and R Prasanth Kumar
    App No: E-2/2087/2019/CHE, Filed Date: 3/7/2019

Current Projects

Research Group