SysIDEA Robotics Lab

The SysIDEA Robotics Lab engages in a wide range of projects in robotics and allied areas that use basic engineering principles related to the dynamics, control theory, systems theory, and sometimes signal processing and data analysis. The projects often span the entire spectrum from mathematical theory, modelling, & analysis, computational simulations, table-top experiments & validations, and in some cases human subject studies. The lab thus has diverse interests and also attracts a diverse set of people from varying backgrounds and interests (including people who are passionate about experimental work, mathematical work, computational studies, specific applications, and making an impact on the field), and both discovery-driven and invention-driven projects are undertaken in the lab.

Research


Robotics & Exoskeletons

Robotics with force control, Robots for safe interaction and collaboration, Exoskeletons and Human gait trainer

Autonomous Vehicles

Autonomous vehicles and race cars, Preview control

Trackability and Tracking Control

Inversion based control, Command and path following, Trackability, Prioritized tracking

Applications of Control Theory to Human Biomechanics

Intermittent control, Postural balance, Parkinson’s disease, Early-diagnosis

Contact




If you are interested in exploring postdoctoral, doctoral, master-level, or intern positions in the lab, please write to sysidea [at] iitgn.ac.in

AB 6/205
IIT Gandhinagar, Palaj
Gandhinagar, Gujarat 382355

People

Harish Palanthandalam-Madapusi

Assoc. Professor, Mechanical Engineering, IITGN

Shail Jadav

PhD Student


Aishwarya Rao

PhD Student


Barat S

PhD Student


Vignesh Ramakrishnan

PhD Student


Ishrath Jeelani

MTech Student


Payal Pal

Junior Research Fellow


Shubhankar Riswadkar

Junior Research Fellow


Arpit Sakhreliya

Junior Research Fellow


Anavart Pandya

Undergraduate Researcher


Saniya Patwardhan

Undergraduate Researcher


Bharathwaj K S

Intern


Jay Patil

Intern


Naman Vyas

Intern


Lab Publications

  1. Dash, R., Shah, V. V., and Palanthandalam-Madapusi, H. J., "How Event-driven Intermittent Control with unstable Open and Closed-loop Dynamics Leads to Bounded Response in Human Postural Control" J of Mechanics in Medicine and Biology, August 2022. https://doi.org/10.1142/S0219519422500476

  2. Kadam, S. D., and Palanthandalam-Madapusi, H. J., "A Note on Invertibility and Relative Degree of MIMO LTI Systems." IFAC J. Sys. & Contr. Vol. 20, 100193, June 2022. https://doi.org/10.1016/j.ifacsc.2022.100193,

  3. Riswadkar, S., Kakadiya, J., Kadam, S. D., Sidhu, K., & Palanthandalam-Madapusi, H. J. "Swirling pendulum dynamics and control: a pedagogical perspective." 2022 American Control Conference (ACC). IEEE, 2022. https://ieeexplore.ieee.org/abstract/document/9867731

  4. Dash, R., Shah, V. V., and Palanthandalam-Madapusi, H. J., " Change in task conditions leads to changes in intermittency in intermittent feedback control employed by CNS in control of human stance." Biol Cybern, April 2022. https://doi.org/10.1007/s00422-022-00927-8

  5. Kadam, S. D., and Palanthandalam-Madapusi, H. J., "Trackability for Discrete-Time LTI Systems: A Brief Review and New Insights." ASME. J. Dyn. Sys., Meas., Control, November 2021. https://doi.org/10.1115/1.4052918

  6. Rao, A., Kadam, S., and Palanthandalam-Madapusi, H. J., “A Perspective on Prioritized Tracking Control for Robotic Systems with More Outputs than Inputs” Advances in Robotics (AIR) 2021, ACM proceedings https://dl.acm.org/doi/pdf/10.1145/3478586.3478596

  7. Dash, R., and Palanthandalam-Madapusi, H. J., “Intermittent Control in Autonomous Vehicle Steering Control and Lane Keeping” Advances in Robotics (AIR) 2021, ACM Proceedings https://dl.acm.org/doi/pdf/10.1145/3478586.3478599

  8. Dash, R., Shah, V. V., and Palanthandalam-Madapusi, H. J., 2020. "Explaining parkinsonian postural sway variabilities using intermittent control theory." Journal of Biomechanics, Elsevier 105, 1–8. https://doi.org/10.1016/j.jbiomech.2020.109791

  9. Kadam, S.D., Shah, U., D’Souza, A., Prajwal, G. S., Raj, N., Banavar, R. N., and Palanthandalam-Madapusi, H.J., “The Swirling Pendulum: Conceptualization, Modelling, Equilibria and Control Synthesis”. (V001T16A002) ASME Dynamics, Systems and Control Conference, ASME, October 2020. https://doi.org/10.1115/DSCC2020-3140

  10. Sujay Kadam, Aishwarya Rao, Biswajit Kumar Prusty, Harish J. Palanthandalam-Madapusi, “Selective Tracking Using Linear Trackability Analysis and Inversion-based Tracking Control,” American Control Conference, July 2020. https://ieeexplore.ieee.org/abstract/document/9147897

  11. Ranjita Dash and Harish J. Palanthandalam-Madapusi, "When to use intermittent control for stabilization?" , Indian Control Conference, Hyderabad, December 2019. https://ieeexplore.ieee.org/document/9123208

  12. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Comparison of Theories of Rest Tremor Mechanism in Parkinson’s Disease: Central Oscillator (Source-triggered Oscillations) and Feedback-induced Instability in the Sensorimotor Loop (Self-sustained Oscillations)" Journal of Mechanics in Medicine and Biology, Vol. 12, No. 1, July 2019. https://doi.org/10.1142/S0219519419500751

  13. Sujay D. Kadam, Roshan A. Chavan, Abhijith Rajiv, and Harish J. Palanthandalam-Madapusi. "A perspective on using input reconstruction for command following." Circuits Syst Signal Process, 38, pp. 5920–5930, 2019. https://link.springer.com/article/10.1007/s00034-019-01145-7

  14. Soheil Fatehiboroujeni, Harish J. Palanthandalam-Madapusi, Sachin Goyal, "Computational Rod Model with User-Defined Nonlinear Constitutive Laws." ASME Journal of Computational and Nonlinear Dynamics, Vol. 13, No. 10, pp.101006-101013, August 2018. https://doi.org/10.1115/1.4041028

  15. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "A Possible Explanation on How High-frequency Stimulation Suppresses Low-frequency Tremors in Deep Brain Stimulation in Parkinson’s Disease." IEEE Transactions on Neural Systems and Rehabilitation Engineering Vol. 25, No. 12, pp. 2498-2508, December 2017. https://ieeexplore.ieee.org/document/8019854

  16. Roshan A. Chavan, Sujay D. Kadam, Abhijith Rajiv, and Harish J. Palanthandalam-Madapusi, "An Input Reconstruction Approach for Command Following in Linear MIMO Systems" , arXiv, preprint arXiv: 1704.04900, Apr. 2017. https://doi.org/10.48550/arXiv.1704.04900

  17. Sujay D. Kadam, and Harish J. Palanthandalam-Madapusi, "Revisiting Trackability for Linear Time-Invariant Systems" , In American Control Conference (ACC), Seattle, WA, US, May 24-26, 2017. https://ieeexplore.ieee.org/document/7963202

  18. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Clinical Facts Along With a Feedback Control Perspective Suggest That Increased Response Time Might Be the Cause of Parkinsonian Rest Tremor." Journal of Computational and Nonlinear Dynamics 12, no. 1: 011007, 2017. https://doi.org/10.1115/1.4034050

  19. Gaurav Kumar Singh, Roshan Chavan, Vrutangkumar V. Shah, Ajinkya P. Dahale, and Harish J. Palanthandalam-Madapusi, "Backward-in-time input reconstruction." In American Control Conference (ACC), pp. 1888-1893, 2016. https://ieeexplore.ieee.org/document/7525194

  20. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "A perspective on the use of high-frequency stimulation in deep brain stimulation for Parkinson's disease." In Indian Control Conference (ICC), pp. 19-24, 2016. https://ieeexplore.ieee.org/document/7441100

  21. Roshan A. Chavan, and Harish J. Palanthandalam-Madapusi, "Delayed recursive state and input reconstruction." arXiv preprint arXiv:1509.06226 , 2015.. https://doi.org/10.48550/arXiv.1509.06226

  22. Vrutangkumar V. Shah, Sachin Goyal, and Harish Palanthandalam-Madapusi, "A Biomechanical Approach to Diagnosis and Monitoring of Parkinson’s Disease." In ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference, pp. V006T10A004-V006T10A00, 2015. https://doi.org/10.1115/DETC2015-46781

  23. Roshan A. Chavan, Harish J. Palanthandalam-Madapusi, and Sachin Goyal, "Estimating constitutive law of a filament from its deformed shapes using input reconstruction." In ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference, pp. V008T13A087-V008T13A087, 2015. https://doi.org/10.1115/DETC2015-46791

  24. Roshan A. Chavan, Abhijith Rajiv, and Harish J. Palanthandalam-Madapusi, "Command following using an input reconstruction approach." In American Control Conference (ACC), pp. 3175-3180, 2015.. https://ieeexplore.ieee.org/document/7171821

  25. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Exploration of diagnosis of parkinson's disease before onset of tremor." In Indian Control Conference (ICC), 2015.

  26. Roshan A. Chavan, Katherine Fitch, and Harish J. Palanthandalam-Madapusi, "Recursive input reconstruction with a delay." In American Control Conference (ACC), pp. 628-633, 2014.

  27. Vrutangkumar V. Shah, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Experimental verification of observations relating to Parkinsonian tremor." In American Control Conference (ACC), pp. 2395-2400, 2014.

  28. Gaurav K. Singh, Vrutangkumar V. Shah, and Harish J. Palanthandalam-Madapusi, "Diagnosis of Parkinson's disease: A limit cycle approach." In International Conference on Control Applications (CCA), pp. 252-257, 2013. https://ieeexplore.ieee.org/document/6662767

  29. Nathaniel Anker, and Harish J. Palanthandalam-Madapusi, "Solving for cantilever equilibria as initial value problem." Journal of Mechanics in Medicine and Biology 13, no. 01: 1320001, 2013.

  30. Adam R. Hinkle, Sachin Goyal, and Harish J. Palanthandalam-Madapusi, "Constitutive-law modeling of microfilaments from their discrete-structure simulations - a method based on an inverse approach applied to a static rod model." Journal of Applied Mechanics 79, no. 5: 051005, 2012. https://doi.org/10.1115/1.4006449

  31. Abhijith Rajiv and Harish J. Palanthandalam-Madapusi, "An Inverse Model Approach For Estimating Constitutive Laws From Dynamic Planar Deformations of Bio-Filaments" , Asian Conference on Mechanics of Functional Materials and Structures, pp. 671-674, 2012.

  32. Sachin Goyal and H. J. Palanthandalam-Madapusi, "Modelling Thermal Fluctuations of Bio-filaments with Kirchhoff Rods" , Asian Conference on Mechanics of Functional Materials and Structures, pp. 663-666, 2012.

  33. Swati Verma, Sachin Goyal, and H. J. Palanthandalam-Madapusi, "Simulation based Analysis of Constitutive Behavior of Microtubules" , Asian Conference on Mechanics of Functional Materials and Structures, pp. 679-681, 2012.

  34. Harish J. Palanthandalam-Madapusi, and Sachin Goyal. "Is parkinsonian tremor a limit cycle?" Journal of Mechanics in Medicine and Biology 11, no. 05, pp.1017-1023, 2011. https://doi.org/10.1142/S0219519411004915

PATENT

[1]. Vrutangkumar V. Shah, and Harish J. Palanthandalam-Madapusi, " A Computer Implemented System and Method For Detecting Parkinson’s Disease.”, patent application number: 201821005332.

News

  • Barat has been awarded the Prime Minister's Research Fellowship (October 2022)
  • Arpit has joined as a Junior Research Fellow (October 2022)
  • Payal joins the lab as Junior Research Fellow (September 2022)
  • Sujay joins National Institute of Technology, Sikkim as Assistant Professor (August 2022)
  • Shubhankar's designation is changed to Junior Research Fellow(August 2022)
  • SysIDEA lab has been awarded Indian Navy grant in collaboration with SMART Lab, IITGN for project on "Vehicle Systems".(July 2022- December 2022)
  • Prof. Harish has been awarded Nidhi Prayas grant for developing generic compliant actuators (July 2022)
  • Shail and Arpit (as Tesseract Robotics) have been awarded the Nidhi Prayas Grant for developing motor controllers (July 2022)
  • Prof. Santosh Devasia and Anuj Tiwari from University of Washington visit IIT Gandhinagar to deliver a short course on 'Feedforward Control for Precision Tracking' and a seminar on 'Cohesive Decentralized Control of Networks with Delays' (14-15 July 2022)
  • Ranjita successfully defends her PhD thesis titled "Intermittent Feedback Control and its Applications to Human Postural Control"(May 2022)
  • Varun joins Oriental Yeast, Japan (May 2022)
  • Sanjay joins the lab as Junior Research Fellow (March 2022)
  • SysIDEA lab has been awarded SERB-MATRICS grant for project on "System Invertibility and Relative Degree for MIMO Linear Dynamical Systems" (January 2022 - January 2025)
  • SysIDEA lab has been awarded ISRO grant in collaboration with SMART Lab, IITGN for project on "Development of Series Elastic Actuator and Control Unit"(October 2021 - October 2023)
  • Anadi leaves to start his PhD at the University of Groningen (September 2021)
  • Jainam joins the laboratory as an intern, and Sagar joins the laboratory as a Junior Research Fellow (September 2021)
  • The Gait Trainer Project was Featured in IITGN Research Capsule Series [LinkedIn] [Instagram] [Twitter thread] [Facebook] (August 2021)
  • Shubham joins HLE Glascoat (August 2021)
  • Karanbir joins Tonbo Imaging (August 2021)
  • Varun joins the lab as a Junior Research Fellow, and Shubhankar joins the laboratory as an intern (August 2021)
  • Shubham and Sagar Successfully defend their M.Tech Thesis (August 2021)
  • Vignesh joins the lab as a PhD student (July 2021)
  • Aishwarya's paper in the Advances in Robotics 2021 gets accepted (May 2021)
  • Ranjita's paper in the Advances in Robotics 2021 gets accepted (May 2021)
  • Ranjita submits her doctoral thesis (May 2021)
  • 9 BTech students join the lab as SRIP interns (May 2021)
  • Gait trainer device trials have succesfully begun (Feb 2021)
  • Anadi Mehta has joined the laboratory as Junior Research Fellow (Feb 2021)
  • Karanbir Sidhu has joined the laboratory as Junior Research Fellow (Feb 2021)
  • Sujay has joined the lab as a Post Doctoral Student (Feb 2021)
  • Karanbir(as Kairios Robotics) has been awarded the DST - Nidhi Prayas Grant for project on quadcopter drones(January 2021)
  • Karanbir has successfully defended his Masters Thesis titled “Sensorless Force Control– Implementation and Experimental Validation using the WISKI Robotic Manipulator”. (January 2021)
  • Sujay has successfully defended his PhD Thesis titled “Right Invertibility and Relative Degree in Tracking Control: Theory and Tools” (January 2021)
  • SysIDEA moves into new Lab Space (Dec 2020)
  • Ranjita's paper in the Indian Control Conference 2020 gets accepted (Aug 2019)
  • Vrutang's paper in Journal of Mechanics in Medicine and Biology gets accepted (Aug 2019)
  • Shail visits the ReNeu Robotics Lab at the University of Texas at Austin for the Summer (May-Aug 2019)
  • Sujay is spending five months at the University of Washington at Seattle with Prof. Santosh Devasia (May-Oct 2019)
  • Sujay's paper in Circuits, Systems and Signal Processing gets accepted (May 2019)
  • A SPARC project in collaboration with the University of Texas at Austin on "Study of Locomotor Adaptation Using a Single-degree-of-freedom Bilateral Gait Trainer" is sanctioned (Mar 2019)
  • Vrutang has joined balance disorders lab at OHSU as a postdoc scholar in the Neurology department to work on balance and gait problems in people with neurological disorders with Prof. Fay B. Horak (July 2018)
  • Prof. Ashish Deshpande from ReNeu Robotics Lab at the University of Texas at Austin is spending this semester at IIT Gandhinagar with the SysIDEA Lab (Aug-Dec 2018)
  • SYSIDEA Lab welcomes four summer interns Amit Jangid (IIT Gandhinagar), Biswajit kumar prusty (NIT Rourkela), Bhawana Sharma (NIT Silchar), Daniel Jakob (Texas A&M University) (May 2018)
  • Vrutang has successfully defended his PhD Thesis titled “A Biomechanical View of Parkinsonian Rest Tremor Mechanism and its Implication to Therapy and Early Diagnosis” (April 2018)
  • Vrutang’s patent application on Presymptomatic Parkinson’s disease has been filed (Feb 2018)
  • Short Course on Nonlinear Control & Applictions held on 26-28 January 2018 at IITGN
  • Shail has joined SysIDEA Lab on 18th October 2017 as Project Associate
  • Vrutang has been selected for participation in Medical Device Innovation Camp (MEDIC), CoEP Pune, 13 -17 September 2017, organized by IIT Bombay
  • Prof. Santosh Devasia from University of Washington is spending a week at IITGN, presenting a seminar on “Convergence of Iterative Co-Learning for Output Tracking”, and teaching a short course on “Inversion-based Feed forward Control for Precision Tracking” (28 August - 1 September 2017)
  • Vrutang's paper on Deep Brain Stimulation has been accepted for publication in IEEE Transactions on Neural Systems & Rehabilitation Engineering (August 2017)
  • Sujay’s paper has been accepted for publication at American Control Conference 2017 at Seattle
  • Prof. Ravi Banavar from Systems and Control Group, IIT Bombay, is spending a semester at IITGN (December 2016 – April 2017)
  • Nidhish Raj, Ph. D. student from Department of Aerospace Engineering, IIT Kanpur is spending a semester at IITGN (January 2017 – April 2017)
  • Vrutang wins grant to visit University of California, Merced for 6 months (September, 2016 - March 2017)
  • Symposium on Control Systems & Applications, IIT Gandhinagar, October 26-27, 2016
  • Vrutang participated in World Parkinson's Congress (WPC), Portland, Oregon, September 20-23, 2016
  • Vrutang & Sujay win Student Awards to visit Indian Control Conference, 2016
  • Winter School on Control & Dynamical Systems, 24-27 January 2016

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