Patents
- Humanoid Fall Direction Change Among Multiple Objects
FREE PATENTS ONLINE
Ambarish Goswami, Umashankar Nagarajan and Yoshiaki Sakagami
Honda Motor Co., Ltd. (Patent Pending), June 2010
Journal Papers
- Shape Space Planner for Shape-Accelerated Balancing Mobile Robots
Umashankar Nagarajan and Ralph Hollis
IEEE Transactions on Robotics (Under Review), 2011
- The Ballbot: An Omnidirectional Balancing Mobile Robot
Umashankar Nagarajan, George Kantor and Ralph Hollis
IEEE Transactions on Robotics (Under Review), 2011
- Direction-Changing Fall Control in Humanoid Robots: Theory and Experiments
Ambarish Goswami, Seung-kook Yun, Umashankar Nagarajan, Sung-Hee Lee, KangKang Yin and Shivaram Kalyanakrishnan
International Journal of Robotics Research (Under Review), 2011
Refereed Conference Papers
Graduate
- Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots
PDF
Umashankar Nagarajan, George Kantor and Ralph Hollis
IEEE Conference on Robotics & Automation (ICRA), May 2012
- Planning in High-dimensional Shape Space for a Single-wheeled Balancing Mobile Robot with Arms
PDF
Umashankar Nagarajan, Byungjun Kim and Ralph Hollis
IEEE Conference on Robotics & Automation (ICRA), May 2012
- Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
PDF
IEEE Xplore
Umashankar Nagarajan, George Kantor and Ralph Hollis
IEEE Conference on Decision and Control (CDC), pp. 3566 - 3571, December 2010
- Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems
PDF
RoboticsProceedings
Umashankar Nagarajan
Robotics: Science and Systems (RSS), pp. 243 - 250, June 2010
- Generalized Direction Changing Fall Control of Humanoid Robots among Multiple Objects
PDF
IEEE Xplore
Umashankar Nagarajan and Ambarish Goswami
IEEE International Conference on
Robotics & Automation (ICRA), pp. 3316 - 3322, May 2010
- Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot
PDF
IEEE Xplore
Umashankar Nagarajan, George Kantor and
Ralph Hollis
IEEE International Conference on
Robotics & Automation (ICRA), pp. 3743 - 3748, May 2009
- State Transition, Balancing, Station Keeping and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot
PDF
IEEE Xplore
Umashankar Nagarajan, Anish Mampetta, George Kantor and
Ralph Hollis
IEEE International Conference on
Robotics & Automation (ICRA), pp. 998 - 1003, May 2009
- Human-Robot Physical Interaction with Dynamically Stable Mobile Robots
PDF
ACM
Umashankar Nagarajan, George Kantor and
Ralph Hollis
ACM/IEEE International Conference on
Human-Robot Interaction (HRI), pp. 281 - 282, March 2009
Undergraduate
-
Adaptive Neuro - Fuzzy Controller for Stabilizing Autonomous Bicycle
IEEE Xplore
Umashankar N and Himanshu Dutt Sharma
IEEE International Conference on
Robotics & Biomimetics (ROBIO), pp. 1652 - 1657, December 2006
- A Model Approach for Perception based Intelligent Design
IEEE Xplore
Himanshu Dutt Sharma and Umashankar N
IEEE International Conference on
Robotics & Biomimetics (ROBIO), pp. 660 - 665, December 2006
-
A Robotic Model (ROBI) of Autonomous Bicycle System
IEEE Xplore
Himanshu Dutt Sharma and Umashankar N
International Conference on Computational Inteligence for Modelling Control and Automation (CIMCA), November 2006.
-
Multi-criteria Intelligent Dispatching Control of Automated Guided Vehicles in FMS
IEEE Xplore
Umashankar N and Karthik V N
IEEE International Conference on
Cybernetics & Intelligent Systems (CIS), pp. 422 - 427, June 2006
-
Fuzzy Controller Design for an Autonomous Bicycle System
IEEE Xplore
Himanshu Dutt Sharma and Umashankar N
IEEE International Conference on Engineering
of Intelligent Systems (ICEIS), pp. 498 - 503, April 2006
-
Stabilization of Autonomous Bicycle using Fuzzy Controller with Maximum Allowable Lean Constraint
PDF
Himanshu Dutt Sharma and Umashankar N
International Conference on Computational Intelligence,
Robotics and Autonomous Systems(CIRAS), December 2005
-
Simulation Model for Studying Inherent Stability Characteristics of Autonomous Bicycle
IEEE Xplore
Himanshu Dutt Sharma, Sameer M Kale and Umashankar N
IEEE International Conference on Mechatronics and Automation (ICMA), pp. 193 - 198, July 2005
Undergraduate Thesis
-
Simulation Analysis of Rider Effect on Bicycle Stabilization
PDF
Umashankar Nagarajan
Birla Institute of Technology and Science (BITS), Pilani, India, December 2006
Journal Links
Conference Links