-
Notifications
You must be signed in to change notification settings - Fork 14
/
Copy pathpublications.html
556 lines (556 loc) · 30.9 KB
/
publications.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Robotics and Motion Laboratory at University of Illinois at Chicago</title>
<!-- Bootstrap -->
<link href="style_doc.css" rel="stylesheet">
</head>
<!-- navbar start -->
<body>
<nav class="navbar fixed-top navbar-expand-lg navbar-light bg-light">
<a class="navbar-brand"><img src="https://pab47.github.io/RAMlab-logo.png" width="89" height="50" alt="RAM Lab Logo"/></a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarSupportedContent" aria-controls="navbarSupportedContent" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbarSupportedContent">
<ul class="navbar-nav mx-auto">
<li class="nav-item">
<a class="nav-link" href="index.html">Home</a>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
About
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="about.html">Pranav Bhounsule</a>
<div class="dropdown-divider"></div>
<a class="dropdown-item" href="media.html">Media</a>
<a class="dropdown-item" href="funding.html">Funding</a>
</div>
</li>
<li class="nav-item">
<a class="nav-link" href="alumni-graduates.html">Students</a>
</li>
<li class="nav-item">
<a class="nav-link" href="videos.html">Videos</a>
</li>
<li class="nav-item">
<a class="nav-link" href="resources.html">Resources</a>
</li>
<li class="nav-item">
</li>
<form class="form-inline my-2 my-lg-0">
</form>
</ul>
</div>
</nav>
<!-- page start -->
<section>
<div class="container">
<div class="row">
<div class="col-12 text-left">
<h2><br><br>
Publications</h2>
<hr>
<div class="row">
</div>
<section>
<div class="container">
<div class="row">
<div class="col-12 text-left">
<h4>All Papers</h4>
<p class="col-xl-12"><strong>2022</strong>
<br>
4. Subramanian Ramasamy, Jean-Paul F. Reddinger, James M. Dotterweich, Marshal A. Childers, Pranav A. Bhounsule <a href="https://pab47.github.io/papers/2022Ramasamy_coordinated.pdf"> Coordinated route planning of multiple fuel-constrained unmanned aerial systems with recharging on an unmanned ground vehicle for mission coverage </a>, Journal of Intelligent Robotics, 2022 (accepted).
<br>
<br>
3. Subramanian Ramasamy, Md Safwan Mondal, Jean-Paul F. Reddinger, James M. Dotterweich, James D. Humann, Marshal A. Childers, Pranav A. Bhounsule . <a href="https://pab47.github.io/papers/2022Safwan_heterogenous.pdf"> Heterogenous vehicle routing: comparing parameter tuning using genetic algorithm and bayesian optimization </a>, 2022 International Conference on Unmanned Aircraft Systems (ICUAS) Dubrovnik, Croatia. June 21-24, 2022.
<br>
<br>
2. Pranav A. Bhounsule, Lorena Claeys, Belinda Harmon, Cynthia Lima, and Emily Young. <a href="https://pab47.github.io/papers/2022Bhounsule_Coding.pdf"> Coding Camp for Middle School Girls Helps Improve Awareness of Science/Engineering Careers and Pathways </a>, ASEE IL-IN 2022
<br>
<br>
1. Tom Bates, John Gerig, Manuel Avitia, Gunnar Waldvogel, Tesfay Legesse, Justin Washington, and Pranav A. Bhounsule. <a href="https://pab47.github.io/papers/2022Bates_HighSpeed.pdf">A High-Speed Launching Mechanism Inspired by a Slingshot Spiders Web</a>. Journal of Bionic Engineering (2022): 1-8.
<br>
<br><strong>2021</strong>
<br>
5. Echeveste Salvador, Ernesto Hernandez-Hinojosa, and Pranav A. Bhounsule 2021. <a href="https://pab47.github.io/papers/2021Echeveste_eventbased.pdf">Event-Based, Intermittent, Discrete Adaptive Control for Speed Regulation of Artificial Legs</a>. Actuators 10, no. 10: 264. https://doi.org/10.3390/act10100264
<br>
<br>
4. Sanchez Sebastian* and Pranav A. Bhounsule,<a href="papers/2021Sanchez_design.pdf">Design, Modeling, and Control of a Differential Drive Rimless Wheel That Can Move Straight and Turn</a>, Automation 2, no. 3: 98-115. 2021 https://doi.org/10.3390/automation2030006 (<a style="color: red;" href="https://www.youtube.com/watch?v=SNxeP29ayhI">video</a>)
<br>
<a href="https://pab47.github.io/papers/2021Sanchez_rimlessSupplement.pdf">Appendix</a> Robot code, Mechanical design, and simulation files on <a href="https://github.com/pab47/RoadRunner2">GitHub</a>.
<br>
<br>
3. R. Meka, A. Alaeddini, C. Ovuegbe, P. A. Bhounsule, P. Najafirad, and K. Yang, <a href="https://pab47.github.io/papers/2021Meka_multiarmed.pdf">Multi-Armed
Bandit Regularized Expected Improvement for Efficient Global
Optimization of Expensive Computer Experiments With Low Noise</a>, in IEEE Access, vol. 9, pp. 100125-100140, 2021, doi: 10.1109/ACCESS.2021.3095755.
<br>
<br>
2. Subramanian Ramasamy*, Jean-Paul F. Reddinger, James M. Dotterweich, Marshal A. Childers, Pranav A. Bhounsule,<a href="https://pab47.github.io/papers/2021Ramasamy_cooperative.pdf">Cooperative route planning of multiple fuel-constrained Unmanned Aerial Vehicles with recharging on an Unmanned Ground Vehicle</a>, International Conference on Unmanned Aircraft System (ICUAS 2021), June 15-18, 2021.
<br>
<br>
1. Ernesto Hernandez-Hinojosa*, Aykut C. Satici, Pranav A. Bhounsule,<a href="papers/2021Hernandez_optimal.pdf">Optimal Control of a 5-link biped using quadratic polynomial model of two-point boundary value problem,</a> ASME-International Design Engineering & Technical Conference, (virtual), Aug 17-20, 2021.
<br>
<br><strong>2020</strong>
<br>
8. Pranav A. Bhounsule, Ernesto Hernandez-Hinojosa*, Adel Alaeddini<a href="https://pab47.github.io/papers/2020Bhounsule_onestep.pdf">One-Step Deadbeat Control of a 5-Link Biped Using Data-Driven Nonlinear Approximation of the Step-to-Step Dynamics.</a> MDPI Robotics 9(4): 90, 2020.
<br>
<br>
7. Ali Zamani* and Pranav A. Bhounsule.<a href="https://pab47.github.io/papers/2020Zamani_nonlinear.pdf">Nonlinear model predictive control of hopping model using approximate step-to-step models for navigation on complex terrain</a>, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Virtual Conference, October 25-29, 2020.
<br>
<br>
6. Ali Zamani* and Pranav A. Bhounsule.<a href="papers/2020Zamani_receding.pdf">Receding Horizon Control For A 2D Point-mass Hopping Model Navigating On Terrain With Stepping Stones and Stairs</a>, ASME-Dynamics Systems and Controls Conference, Virtual Conference, October 5 - 7, 2020.
<br>
<br>
5. Sebastian Sanchez* and Pranav A. Bhounsule,<a href="papers/2020Sanchez_rimlesswheel.pdf">A differential drive rimless wheel that can move straight and turn, </a>Intl. Conference on Advanced Intelligent Mechatronics, Boston, MA July 6-10, 2020. (See publications in 2021 for extended journal version to MDPI Automation)
<br>
<br>
4. Pranav A. Bhounsule, Myunghee Kim, Adel Alaeddini,<a href="papers/2020Bhounsule_approximation.pdf">Approximation of the Step-to-step Dynamics Enables Computationally Efficient and Fast Optimal Control of Legged Robots</a>, ASME-International Design Engineering
&
Technical Conference, St. Louis, MO, USA, Aug. 16-19, 2019.
<br>
<br>
3. Ezra Ameperosa* and Pranav A.
Bhounsule,<a href="https://pab47.github.io/papers/2020Ameperosa_domain.pdf">Domain randomization using deep neural networks for
estimating positions of bolts</a>, ASME Journal of Computing and
Information Science in Engineering (JCISE) 2020.
<br>
<br>
2. Pranav A. Bhounsule, Ali
Zamani*, Jeremy Krause*, Steven Farra^, Jason Pusey,<a href="https://pab47.github.io/papers/2020Bhounsule_control.pdf">Control policies
for large region of attraction for dynamically balancing legged robots:
a sampling-based approach</a>, Robotica, 39(1), 107-122, 2021.
<br>
<br>
1. Randall Manteufel, Amir Karimi, Pranav A.
Bhounsule.<a href="https://pab47.github.io/papers/2020Manteufel_cheating.pdf">Use of Phones and Online Tutors to Cheat on Engineering Exams</a>
American Society of Engineering Education Gulf-South West Section, University of New Mexico, NM, USA, April 23-24, 2020.
<br>
<br><strong>2019</strong>
<br>
4. Christian Nall*, Pranav A. Bhounsule,<a href="https://pab47.github.io/papers/2019Nall_actuator.pdf">A Miniature 3D Printed On-Off Linear Pneumatic Actuator and Its Demonstration into a Cartoon Character of a Hopping Lamp</a>. Actuators 2019, 8, 72. (<a style="color: red;" href="https://www.youtube.com/watch?v=DPUNslHj5VE">video</a>)
<br>
<br>
3. Ezra Ameperosa*, Pranav A.
Bhounsule,<a href="papers/Ameperosa2019_bolts.pdf">Domain
randomization for detection and position estimation
of multiples of a single object with applications to localizing bolts
on structures</a>, ASME-International Design Engineering &
Technical
Conference, Anaheim, CA, USA, Aug. 18--21, 2019. (<a style="color: red;" href="https://www.youtube.com/watch?v=-DLU-bjDOhE">video</a>) (<span style="font-weight: bold;">Best paper at ASME IDETC/CIE 2019</span>)
<br>
<br>
2. Wankun Sirichotiyakul,
Aykut C. Satici, Sebastian Sanchez*, Pranav A. Bhounsule,<a href="https://pab47.github.io/papers/Sirichotiyakul2019_energetic.pdf">Energetically-optimal
Discrete And Continuous Stabilization Of The
Rimless Wheel With Torso</a>, ASME-International Design Engineering
&
Technical Conference, Anaheim, CA, USA, Aug 18--21, 2019.
<br>
<br>
1. A. Zamani* and J. Galloway II^,
P. A. Bhounsule,<a href="https://pab47.github.io/papers/Zamani2019Feedback.pdf">Feedback
motion planning of legged robots by composing orbital Lyapunov
functions using rapidly-exploring random trees</a>, IEEE Conference on
Robotics and Automation, Montreal, Canada, May 20-24, 2019 (<a href="https://youtu.be/Ie-WGqAl6-4"><span style="color: red;">video</span></a> | <a href="https://github.com/pab47/HopperRRT"><span style="color: red;"> GitHub</span></a>)
<br>
<br><strong>2018</strong>
<br>
8. A. Zamani*, P. A. Bhounsule,<a href="https://pab47.github.io/papers/2018Zamani_synergy.pdf">Control Synergies for Rapid
Stabilization and Enlarged Region of Attraction for a Model of Hopping</a>,
Biomimetics 2018, 3(3), 25; https://doi.org/10.3390/biomimetics3030025.
<br>
<br>
7. C. Lima, L. Claeys, and P. A.
Bhounsule,<a href="https://pab47.github.io/papers/2018Lima_service_learning.pdf">Academy for
Teacher Excellence: Promoting STEM Education and STEM Careers among
Latinos Service Learning</a>
(Under) Represented Latins in STEM: Increasing Participation Throughout
Education and the Work- place, Editors: Timothy T. Yuen, Emily P.
Bonner, Maria G. Arreguin-Anderson. Publisher: Peter Lang Inc, 2018,
ISBN. 978-1-4331-5176-7, DOI https://doi.org/10.3726/b13022.
<br>
<br>
6. F. Moreira^, A. Abundis^ M.
Aguirre^, J. Castillo^, P. A. Bhounsule,<a href="https://pab47.github.io/papers/Moreira2018_inchworm.pdf">An Inchworm-inspired Robot
Based on Modular Body, Electronics and Passive Friction Pads Performing
the Two-anchor Crawl Gait</a>, Journal of Bionic Engineering, Volume
15, Issue 5, 2018, DOI https://doi.org/10.1007/s42235-018-0069-x <a style="color: red;" href="https://www.youtube.com/watch?v=rlaOOx0Boos">(video)</a>
<br>
<br>
5. C. L. Trevino*, J. D. Galloway
II^, P. A. Bhounsule,<a href="https://pab47.github.io/papers/2018Trevino_Rowdy.pdf">A
Three-Dimensional Printed, Non-Assembly, Passive Dynamic Walking Toy:
Design and Analysis, Journal of Mechanisms and Robotics</a>, doi:<a href="https://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2686558">10.1115/1.4040634</a>
2018 (<a href="https://pab47.github.io/papers/2018Trevino_Rowdy_Appendix.pdf">appendix</a>) (<a style="color: red;" href="https://www.youtube.com/watch?v=wJ3W3MomWl4">video</a> | <a style="color: red;" href="https://youtu.be/sAGWg-DyDOw">simulation validation video on
YouTube</a> | <a style="color: red;" href="https://github.com/pab47/RowdyWalker">code on GitHub</a>)
<br>
<br>
4. J. Krause*, P A.
Bhounsule,<a href="https://pab47.github.io/papers/Krause2018_actuator.pdf">A 3D Printed
Linear Pneumatic Actuator for Position, Force and Impedance Control</a>,
Actuators 7(2), 24, 2018, doi:<a href="http://dx.doi.org/10.3390/act7020024">10.3390/act7020024</a>
<br>
<br>
3. J. D. Galloway II ^, G. A.
Rios^, Pranav A. Bhounsule,<a href="https://pab47.github.io/papers/Galloway2018_swing.pdf">Mechanics
And Control Of Pumping A Playground Swing And Robotic Implementation</a>,
UTSA Journal Of Undergraduate And Scholarly Works, Volume 3, 2018 (<a style="color: red;" href="https://www.youtube.com/watch?v=mNHBRSlg1EM">video</a>)
<br>
<br>
2. P. A. Bhounsule, A. Zamani*, and
J. Pusey,<a href="https://pab47.github.io/papers/Bhounsule2018_switching.pdf">Switching
between Limit Cycles in a Model of Running Using Exponentially
Stabilizing Discrete Control Lyapunov Function</a>, American Controls
Conference (ACC), Milwaukee, WI, USA June 27 - 29, 2018 (<a style="color: red;" href="https://youtu.be/4nZz1J9ew9k">video</a>)
<br>
<br>
1. P. A. Bhounsule, A. Taha, and S.
Nugruho,<a href="https://pab47.github.io/papers/ASEE18_robotics_outreach.pdf">Control Systems
and Robotics Outreach to Middle-school Girls: Approach, Results, and
Suggestions</a>,
Proceedings of the 2018 ASEE Gulf-Southwest Section Annual Conference
The University of Texas at Austin, TX, USA April 4-6, 2018. (<span style="font-weight: bold;">Paper award, 2nd place</span>) (<a style="color: red;" href="https://youtu.be/nJW5tSn7uFA">video</a> | <a style="color: red;" href="https://github.com/pab47/IEEE_CSS_Outreach">GitHub</a>)
<br>
<br><strong>2017</strong>
<br>
9. M. Piper*, P. A. Bhounsule and
K. K. Castillo-Villar, <a href="papers/Piper2017_FlappyBird.pdf">How
to beat Flappy Bird: A Mixed-integer Model Predictive Control Approach</a>,
ASME-Dynamics Systems and Controls Conference, October 11-13, 2017,
Tysons Corner, Virginia, USA. <a style="color: red;" href="index.html#flappy"><span style="font-weight: bold;">(click for
video)</span></a> (<a href="https://github.com/pab47/FlappyBirdController">code on github</a>)
<br>
<br>
8. P. A. Bhounsule,<a href="https://pab47.github.io/papers/Bhounsule2017_Control_based_on_passive_dynamic_walking.pdf">Control
based on passive dynamic walking</a>,
Bioinspired Legged Locomotion: Models, Concepts, Control and
Applications, 1st edition, Editors: Maziar Sharbafi and Andre Seyfarth.
Publisher: Elsevier, Butterworth-Heinemann, 2017 ISBN.
9780128037744 (Book chapter).
<br>
<br>
7. P.
A. Bhounsule and A Zamani*,<a href="https://pab47.github.io/papers/Bhounsule2017_dclf.pdf">A
Discrete Control Lyapunov Function for
Exponential Orbital Stabilization of the Simplest Walker</a>, ASME
Journal
of Mechanism and Robotics Vol 9, No 5, 2017 doi:10.1115/1.4037440.
<br>
<br>
6. P. A. Bhounsule,<a href="https://pab47.github.io/papers/Bhounsule2017_Benchmarks.pdf">Two benchmarks
for optimization of legged robots – hybrid systems with impulse
effects</a>, Dynamics of Continuous, Discrete and Impulsive Systems
Series
B: Applications and Algorithms, 24 (2017) 269-282.
<br>
<br>5. P.
A. Bhounsule,
K.Yamane. <a href="https://pab47.github.io/papers/Bhounsule2017_humanoids.pdf">Accurate
Task-Space Tracking for Humanoids with Modeling
Errors using Iterative Learning Control.</a> Intl. Journal of Humanoid
Robots, Vol. 14, No. 3 (2017) 1750015 DOI: 10.1142/S0219843617500153<br>
Multimedia including video: <a href="https://www.disneyresearch.com/publication/accurate-task-space-tracking/">https://www.disneyresearch.com/publication/accurate-task-space-tracking/</a>
<br>
<br>
4. P. A. Bhounsule and A. Zamani*.<a href="https://pab47.github.io/papers/Bhounsule2016_protraction.pdf">Stable Bipedal Walking
Motions with a Swing-Leg Protraction Strategy</a>, Journal of
Biomechanics, vol. 51, pp. 123 -- 127, 2017
http://dx.doi.org/10.1016/j.jbiomech.2016.11.063
<br>
<br>
3. A. Zamani* and P. A. Bhounsule.<a href="https://pab47.github.io/papers/Zamani2017_orbital.pdf">Foot Placement and Ankle Push-off
Control for the Orbital Stabilization of Bipedal Robots</a> IEEE/RSJ
Intl. Conference on Intelligent Robots and Systems, Vancouver, BC,
Canada, September 24-28, 2017.
<br>
<br>
2. J. Krause* and P.
A. Bhounsule,<a href="https://pab47.github.io/papers/Krause2017_pneumatic.pdf">Variable
Position and Force Control of a Pneumatically Actuated Knee Joint</a>,
ASME-International
Design Engineering & Technical Conference, August 6-9, 2017,
Cleveland, Ohio.
<br>
<br>
1. P.A.
Bhounsule, D. Chaney, L. Claeys and R.D. Manteufel.<a href="https://pab47.github.io/papers/ASEE17_service_learning.pdf">Robotics service learning
for improving learning outcomes and increasing community engagement</a>,
American Society of Engineering Education Gulf-South West Section,
Dallas, Texas, USA, March 13-14, 2017.
<br>
<br><strong>2016</strong>
<br>
7. P. A. Bhounsule, J. Pusey, C. Moussouni^,<a href="https://pab47.github.io/papers/Bhounsule2016_LegKinematics.pdf">A comparative study of
leg geometry for energy-efficient locomotion</a>,
IEEE International Conference on Simulation, Modeling, and
Programming for Autonomous Robots (SIMPAR), San Francisco, USA Dec
13-16, 2016.
<br>
<br>
6. P. A. Bhounsule,
K. Yamane, A. Bapat,<a href="https://pab47.github.io/papers/Bhounsule_DSCC2016-9759.pdf">A
task-level iterative learning control algorithm for accurate tracking
in manipulators with modeling errors and stringent joint limits</a>,
ASME-Dynamics Systems and Controls Conference, Minneapolis, MN, USA Oct
12-14, 2016.
<br>
<br>
5. P. A. Bhounsule,
E. Ameperosa^, S. Miller^, K. Seay^, R. Ulep^, <a href="https://pab47.github.io/papers/Bhounsule2016_rimlesswheel.pdf">Dead-beat
control of walking for a torso-actuated rimless wheel using an
event-based, discrete, linear controller</a>, ASME-International
Design Engineering & Technical Conference, Charlotte, NC, USA Aug
21–25, 2016.
<br>
<br>
4. A. Zamani*, P. A.
Bhounsule and J. Hurst.<a href="https://pab47.github.io/papers/DW16_Zamani.pdf">Energy-efficient
planning for dynamic legged robots on patterned terrain</a>, Dynamic
Walking 2016, Holly, Michigan, USA, June 4 - 7, 2016.
<br>
<br>
3. C. von Brecht^, B.
Kramer^, P. A. Bhounsule, A. Jafari.<a href="https://pab47.github.io/papers/DW16_vonBrecht.pdf">An impulse actuator for high speed
& high torque applications</a>, Dynamic Walking 2016, Holly,
Michigan, USA, June 4 - 7, 2016.
<br>
<br>
2. A. Zamani*, P. A.
Bhounsule, A. Taha.<a href="https://pab47.github.io/papers/Zamani2016_MotionPlan_SPIE.pdf">Planning
energy-efficient bipedal locomotion on patterned terrain</a>. In Proc.
SPIE 9837, Unmanned Systems Technology XVIII, Baltimore, Maryland, USA,
April 20-21, 2016. <a href="http://dx.doi.org/10.1117/12.2223447">http://dx.doi.org/10.1117/12.2223447</a>
<br>
<br>
1. P.A.
Bhounsule and R.D. Manteufel.<a href="https://pab47.github.io/papers/Short_Videos_Mechatronics.pdf">Short video clips to
increase student engagement in mechatronics</a>, American Society of
Engineering Education Gulf-South West Section, Fort Worth, Texas, USA,
March 6-8, 2016.
<br>
<br><strong>2015</strong>
<br>
4. P.
A. Bhounsule, A. Ruina, G. Steissberg.<a href="https://pab47.github.io/event-based-intermittent.pdf">Discrete Decision Continuous
Actuation
control: balance of an inverted pendulum and pumping a pendulum swing</a>.
ASME J. Dyn. Sys., Meas., Control 137(5), 051012 (2015) (9 pages) (<a style="color: red;" href="https://www.youtube.com/watch?v=GCGeDHKNzm4">video</a>)
<br>
<br>
3. P. A. Bhounsule
and K.Yamane.<a href="https://pab47.github.io/papers/sky_task_humanoids.pdf">Iterative
Learning Control for
Accurate Task-Space Tracking with Humanoid Robots.</a>
IEEE-International Conference on Humanoid Robots, Seoul, South Korea,
Nov 3-5, 2015.
<br>
<br>
2. R. Brothers^, R.
De La
Garza^, E. Sanchez^, C. Trevino^, P. A. Bhounsule, "<a href="https://pab47.github.io/DW15_RoboticLeg.pdf">Ein: A Modular Robotic Leg</a>"
Dynamic Walking 2015, Columbus, Ohio, USA.
<br>
<br>
1. S. Miller^,
E. Ameperosa^,
K. Seay^, R. Jovanni Ulep^, P. A. Bhounsule, "<a href="https://pab47.github.io/DW15_RimlessWheel.pdf">The Roadrunner: A 2-D Powered Rimless
Wheel Robot for Energy-efficient and Rough Terrain Locomotion</a>"
Dynamic Walking 2015, Columbus, Ohio, USA.
<br>
<br><strong>2014</strong>
<br>
4. P. A. Bhounsule.<a href="https://pab47.github.io/simplest_limits.pdf">Foot placement in the
simplest slope walker reveals a wide range of walking solutions</a>.
IEEE-Transactions on Robotics, Vol 30, Issue 5, June 2014.
<br>
<br>
3. P.
A. Bhounsule.<a href="https://pab47.github.io/pdw_benchmark.pdf">Numerical accuracy of two
benchmark models of walking:
the rimless wheel and the simplest walker.</a> Dynamics of
Continuous, Discrete and Impulsive Systems Series B: Applications and
Algorithms, vol. 21, pp 137--148, 2014. MATLAB file: <a href="https://pab47.github.io/rimlesswheel.m">rimlesswheel.m</a>
and <a href="https://pab47.github.io/simplestwalker.m">simplestwalker.m</a>.
<br>
<br>
2. P. A. Bhounsule.<a href="https://pab47.github.io/walking_model.pdf">Control of a compass gait
walker based on energy
regulation using ankle push-off and foot placement.</a>
Robotica, pp. 1--11, June 2014.
<br>
<br>
1. P. A. Bhounsule,
J.
Cortell, A.Grewal, B. Hendriksen, J.G.D. Karssen,
C. Paul, A. Ruina.<a href="https://pab47.github.io/rangerIJRR2013.pdf">Low-bandwidth
reflex-based control for lower power
walking: 65 km on a single battery charge</a>. International Journal of
Robotics Research, vol.33 no.10, 1305-1321, 2014. <a href="https://pab47.github.io/rangerIJRR2013supplement.pdf">Extended
appendix.</a> <a href="http://ruina.tam.cornell.edu/research/topics/locomotion_and_robotics/ranger/ranger_paper/index.html">Link
to webpage.</a> (<a style="color: red;" href="https://www.youtube.com/watch?v=KLepY1AsaRk">video</a>)
<br>
<br><strong>2008-2013</strong>
<br>
6. P.
A. Bhounsule, K.Yamane.<a href="https://pab47.github.io/ilc_animatronics.pdf">Iterative
Learning Control for High-Fidelity
Tracking of Fast Motions on Entertainment Humanoid Robots</a>.
IEEE-International Conference on Humanoid Robots, Georgia, USA Oct 15-
17,
2013.
<br>
<br>
5. P. A. Bhounsule,
J.
Cortell, A. Ruina,<a href="https://pab47.github.io/DW12_Ranger_Lessons.pdf">How
one might realize
practical, energy-efficient legged robots: 19 thoughts/ideas from the
Cornell
Ranger project</a>, Dynamic Walking 2012. (<a style="color:red;" href="https://pab47.github.io/ranger_lessons_ppt.pdf">presentation slides</a> | <a style="color:red;" href="https://www.youtube.com/watch?v=YhoZGSLV8rQ">video</a>)<br>
<span style="font-weight: bold;"></span>
<br>
<br>
4. P. A. Bhounsule,
J. Cortell, A.
Ruina, “<a href="https://pab47.github.io/CLAWAR12_Ranger_Design_Control.pdf">Design and control
of Ranger: an energy-efficient, dynamics walking robot</a>”,
Climbing and Walking Robots, 441--448, CLAWAR 2012, Maryland,
USA. (<span style="font-weight: bold;">Best paper in Biologically
Inspired Robotics</span>)
<br>
<br>
3. P.
A. Bhounsule,
A. Ruina, "<a href="https://pab47.github.io/WCB2010_SmoothDiscreteControl.pdf">Smooth
discrete control of walking robots:
An intermediate between fully passive and high bandwidth feedback
control</a>", Word Congress of Biomechanics 2010, Singapore (<a style="color:red;" href="https://pab47.github.io/wcb10_SmoothDiscrete.pdf">presentation slides</a>)
<br>
<br>
2. P. A. Bhounsule, "<a href="https://pab47.github.io/DW09_EnergyOptimalControl.pdf">Cornell
ranger: Energy optimal control</a>", Proceedings of Dynamic
Walking 2009, Vancouver, Canada.
<br>
<br>
1. P. A. Bhounsule, "<a href="https://pab47.github.io/DW2008_poster_Bhounsule.pdf">Cornell
ranger: computer simulation and experimental fits</a>",
Proceeding of Dynamic Walking 2008, Delft, Netherland. (<a style="color: red;" href="https://pab47.github.io/ranger_match.mov">video</a>)
</p>
<h4>Theses</h4>
<p class="col-xl-12">T12. Ali Zamani, <a href="https://pab47.github.io/reports/Ali_Zamani_PhD_Thesis.pdf">Toward Enhancing Stability and Agility of Dynamically Balancing Legged Robots: A Data-Driven Approach</a>, PhD Thesis, Mechanial Engineering, UIC, Dec 2020.
<br>
<br>T11. Chinonso Ovuegbe, <a href="https://pab47.github.io/reports/Nonso_Oveugbe_MS_Thesis.pdf">Parameter selection in the dynamic window approach robot collision avoidance algorithm using bayesian optimization,</a> MS
Thesis, Mechanical Engineering, UTSA May 2020.
<br>
<br>T10. Justin Ernst, <a href="https://pab47.github.io/reports/Justin_Ernst_MS_Thesis.pdf">Tuning A Discrete Linear
Quadratic Regulator Controller Using The Region Of Attraction For The
Simplest Walker Model,</a> MS
Thesis, Mechanical Engineering, UTSA August 2019.
<br>
<br>T9. Andrew Waterreus, <a href="https://pab47.github.io/reports/Andrew_Waterreus_MS_Thesis.pdf">Utilization Of
Supervised And Reinforcement Learning in the Automation of the
Classical Atari Game ``pong"</a>, MS
Thesis, Mechanical Engineering, August UTSA 2019.
<br>
<br>T8. Eric Sanchez, Rowdy Runner II:
An Independently Actuated Rimless Wheel Robot, MS
Thesis, Mechanical Engineering, December 2018.
<br>
<br>T7. Ezra Ameperosa, <a href="https://pab47.github.io/reports/Ezra_Ameperosa_MS_Thesis.pdf">Bolt Detection
and Position Estimation using Domain Randomization</a>, MS Thesis,
Mechanical Engineering, August 2018 (<a style="color: red;" href="https://www.youtube.com/watch?v=-DLU-bjDOhE">video</a>)
<br>
<br>T6. Christian Trevino, <a href="https://pab47.github.io/reports/Christian_Trevino_MS_Thesis.pdf">A Miniature
Size 3d Printed Linear Pneumatic Actuator For Robotic Applications. MS
Thesis, Mechanical Engineering</a>, December 2017.
<br>
<br>T5. Geoffrey
Chiou, <a href="https://pab47.github.io/reports/Geoffrey_Chiou_MS_Thesis.pdf">Reducing The
Variance Of Intrinsic Camera Calibration Results
In The ROS Camera_Calibration Package</a>, Mechanical Engineering,
December
2017.
<br>
<br>T4. Matthew Piper, <a href="https://pab47.github.io/reports/Matthew_Piper_MSThesis.pdf">How to beat Flappy Bird: A
Mixed-Integer model predictive control apporach</a>. MS Thesis,
Mechanical Engineering, May 2017. (<a style="color: red;" href="https://www.youtube.com/watch?v=P5YftCPE4rw">video</a>)
<br>
<br>T3. Abhishek A. Bapat, "<a href="https://pab47.github.io/reports/AbhisHex_MS_Thesis.pdf">Design, prototyping and testing
of an autonomous robot with
C shaped compliant legs: AbhisHex</a>", MS Thesis, Advanced
Manufacturing and Enterprise Engineering, December 2016. (<a style="color: red;" href="https://pab47.github.io/reports/AbhisHex_CAD.zip">CAD files</a> | <a style="color: red;" href="https://pab47.github.io/reports/AbhisHex_Photos.zip">photos</a> | <a style="color: red;" href="https://youtu.be/DpI4JOvbvIw">video</a>)
<br>
<br>T2. Christian L.
Trevino, "<a href="https://pab47.github.io/reports/Christian_Trevino_BS_Thesis.pdf">Modern Day
Advanced Manufacturing of Antique Toy
Walkers</a>", BS Thesis, Honors College, August 2015.
<br>
<br>T1. P. A. Bhounsule, "<a href="https://pab47.github.io/Pranav_Bhounsule_Thesis.pdf">A
controller design framework for bipedal robots: Trajectory optimization
and event-based stabilization</a>", PhD Thesis, Cornell
University, Ithaca, NY, USA, May 2012.<br>
<br>
The thesis led to two world records on legged robots in 2011 which have
both been broken in 2015 (see below):<br>
<br>
1) The robot walked non-stop for 40.5 miles or 65 kms on a single
charge without being touched or recharged (<a style="color: red;" href="https://www.youtube.com/watch?v=KLepY1AsaRk">video</a>) <br>
This record has been surpassed by Chinese robot Xingzhe No.1 in
2015 walking a distance of 83 miles (~ 134 km) in 54 hrs. <br>
<br>
2) The same robot (in a seperate trial) walked with Total Cost of
Transport (TCOT = Energy used per unit weight per unit distance
travelled) of 0.19 and marginally better then 0.2 achieved by <a href="http://ruina.tam.cornell.edu/research/topics/locomotion_and_robotics/efficient_bipedal_robots/biped_cornell.mov">Collins
walker.</a> Note that humans have a TCOT of 0.32.
<br>
</p>
</div>
<hr>
<footer class="text-left">
<div class="container">
<div class="row">
<div class="col-3 col-xl-12">
<p><font size = "-1">* graduate student
<br>^ undergraduate student</font></p>
<p>Copyright © MyCompany. All rights reserved.</p>
</div>
</div>
</div>
</footer>
<!-- jQuery (necessary for Bootstrap's JavaScript plugins) -->
<script src="js/jquery-3.4.1.min.js"></script>
<!-- Include all compiled plugins (below), or include individual files as needed -->
<script src="js/popper.min.js"></script>
<script src="js/bootstrap-4.4.1.js"></script>
</div>
</div>
</section>
</div>
</div>
</div>
</section>
<!-- Default Statcounter code for Pranav Bhounsule HomePage
https://pab47.github.io/ -->
<script type="text/javascript">
var sc_project=6467122;
var sc_invisible=0;
var sc_security="926f6293";
var scJsHost = "https://";
document.write("<sc"+"ript type='text/javascript' src='" +
scJsHost+
"statcounter.com/counter/counter.js'></"+"script>");
</script>
<noscript><div class="statcounter"><a title="Web Analytics
Made Easy - Statcounter" href="https://statcounter.com/"
target="_blank"><img class="statcounter"
src="https://c.statcounter.com/6467122/0/926f6293/0/"
alt="Web Analytics Made Easy - Statcounter"
referrerPolicy="no-referrer-when-downgrade"></a></div></noscript>
<!-- End of Statcounter Code -->
</body>
</html>