Recent Publications

• N Shyam Sridhar, Aashish Sahu, S Rami Reddy, and R Prasanth Kumar, “Collaborative Payload Transport using a Four-Quadcopter Swarm with RTK and MQTT-based Coordination,” IEEE International Conference on Robotics and Mechatronics, 2025. [Best Paper Award]

• Krishnendu Roy and R Prasanth Kumar, “Prismatic-Revolute Hybrid Biped Robot Walking in Unstructured Terrain using Reinforcement Learning,” IEEE International Conference on Robotics and Mechatronics, 2025.

• Krishnendu Roy and R Prasanth Kumar, “Dynamic standing stability comparison of revolute-knee and prismatic-knee underactuated biped robots,” International Journal of Dynamics and Control, Vol. 13, art No. 415, 2025. [Link]

• Aashish Sahu and R Prasanth Kumar, “Design and Development of an Arm-Leg Hybrid Drone for Enhanced Aerial Manipulation and Mobility,” 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2024.

• Aashish Sahu and R Prasanth Kumar, “Design and Implementation of Hexacopter Drone with Integrated Suction and Lift Mechanism with Real-Time Depth Sensing for Precision Object Handling,” 2024 9th International Conference on Robotics and Automation Engineering (ICRAE), 2024.

• Krishnendu Roy, R Prasanth Kumar, and P Murali Krishna, “Walking of Prismatic Knee Biped Robot Using Reinforcement Learning,” 2023 IEEE 4th Annual Flagship India Council International Subsections Conference (INDISCON), 2023. [Best Paper Award]

• Krishna Prakash Yadav, R Prasanth Kumar, “Genetic Algorithm-Based Trajectory Optimization for a Three-Link Biped Robot,” 2023 IEEE 4th Annual Flagship India Council International Subsections Conference (INDISCON), 2023.

• Mangesh D. Ratolikar and R. Prasanth Kumar, “Optimized Design of 5R Planar Parallel Mechanism for the Gait-Cycle of Quadruped Robots,” Journal of Vibroengineering, Vol. 24, No. 1, pp. 104-115, 2022.

• Krishna Prakash Yadav and R. Prasanth Kumar, “Biped dynamic walker modeling and control for underactuated gait cycle,” International Journal of Dynamics and Control, Vol. 10, No. 4, pp. 1138-1147, 2022.

• Krishna Prakash Yadav and R. Prasanth Kumar, “Discrete Feedback Control for Robust Walking of Biped Dynamic Walker,” in Proceedings of the 9th International Conference on Control, Mechatronics and Automation (ICCMA), 2021.

• 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,” in IEEE International Conference on Robotics and Biomimetics (ROBIO), 2021.

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

• 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.

• 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.

• 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.

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

• 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.

• 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

• 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: 03/07/2019

• An Airborne Vacuum Cleaner, R. Prasanth Kumar
  App No: E-2/956/2019/CHE, Filed Date: 26/03/2019

• A Stiffened Flexible Manipulator Arm, R. Prasanth Kumar and Rahul Dixit
  App No: 974/DEL/2014, Filed Date: 03/04/2014

• Walking Assistant Apparatus for High Walking Stability, Jungwon Yoon and Prasanth Kumar
  KIPO App No: 10-2009-0053211, Issue Date: 04/04/2011