research overview Combining biology and robotics to uncover the principles of robustness that make animals successful at locomotion in natural environments, and, in turn, inspire the design of next generation of novel robots for effective real-world operation.
selected publications conference proceeding Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr 2020 Testing the effect of scaling on microrobot locomotion performance. Bulletin of the American Physical Society. 2020 Gait recovery using proprioceptive feedback in HAMR, a biologically-inspired robotic platform. Integrative and Comparative Biology. E110-E110. 2019 Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot 2018 Fabrication of insect wings ranging from millimeters to meters. Integrative and Comparative Biology. E345-E345. 2018 A high speed motion capture method and performance metrics for studying gaits on an insect-scale legged robot. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems. 3964-3970. 2017 Phase control for a legged microrobot operating at resonance 2017 Towards rapid running at resonance using HAMR, a biologically-inspired robotic platform. Integrative and Comparative Biology. E304-E304. 2017 Cockroach-inspired self-righting robots. Integrative and Comparative Biology. E323-E323. 2016 Cockroaches squeezing through crevices. Integrative and Comparative Biology. E102-E102. 2016 Body size limit predictions for mechanically mediated maneuvers. Integrative and Comparative Biology. E88-E88. 2015 Effect of friction on cockroaches running in confined spaces. Integrative and Comparative Biology. E101-E101. 2014 Dynamic response of antenna flagellum in the American cockroach. Integrative and Comparative Biology. E273-E273. 2013 Running in confined spaces by the American cockroach. Integrative and Comparative Biology. E102-E102. 2013 Robust Climbing in Cockroaches Results from Fault Tolerant Design Using Leg Spines. Integrative and Comparative Biology. E86-E86. 2012 A Tunable, Multisegmented Robotic Antenna for Identifying and Testing Biomechanical Design Principles. Integrative and Comparative Biology. E182-E182. 2011 Biomechanics of Tactile Sensor for Wall Following and Spatial Mapping. Integrative and Comparative Biology. E93-E93. 2011 Role of Robustness in Running: Bio- and Bio-inspired Exoskeletons. Integrative and Comparative Biology. E44-E44. 2011 Running without feet: the role of tarsi during high-speed horizontal locomotion in cockroaches. Integrative and Comparative Biology. E64-E64. 2011 High-Speed Horizontal to Vertical Transitions in Running Cockroaches Reveals a Principle of Robustness. Integrative and Comparative Biology. E83-E83. 2010 Mechanical Feedback of Antenna-Substrate Interaction Simplifies Cockroach Antennal Navigation. Integrative and Comparative Biology. E120-E120. 2010 journal article Piezoelectric Grippers for Mobile Micromanipulation. IEEE Robotics and Automation Letters. 4407-4414. 2020 Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot. Bioinspiration and Biomimetics. 2019 Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion. Science Robotics. 2018 Concomitant sensing and actuation for piezoelectric microrobots. Smart Materials and Structures. 2018 Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots. Journal of the Royal Society Interface. 2018 Gait studies for a quadrupedal microrobot reveal contrasting running templates in two frequency regimes. Bioinspiration and Biomimetics. 2017 Fabrication of Paper-Templated Structures of Noble Metals. Advanced Materials Technologies. 2017 Evaluating gaits on a quadrupedal microrobot reveals kinematic running beyond body dynamics. Bioinspiration and Biomimetics. 2017 Design and development of a vision-based micro-assembly system. Proceedings of the Institution of Mechanical Engineers Part B: Journal of Engineering Manufacture. 1164-1168. 2016 Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot. Proceedings of the National Academy of Sciences of USA. E950-E957. 2016 Mechanical processing via passive dynamic properties of the cockroach antenna can facilitate control during rapid running. The Journal of Experimental Biology. 3333-3345. 2014 Development of a flexure-based, force-sensing microgripper for micro-object manipulation. Journal of Micromechanics and Microengineering. 2010 ORIGIN OF VISIBLE PHOTOLUMINESCENCE FROM POROUS SILICON AS STUDIED BY RAMAN-SPECTROSCOPY. Bulletin of Materials Science. 513-522. 1994
courses taught MCEN 5228 - Special Topics in Mechanical Engineering Primary Instructor - Spring 2020 / Spring 2021 Subject matter to be selected from topics of current interest. May be repeated up to 15 credit hours.
education and training Ph.D., University of California-Berkeley 2015 M.S., Indian Inst of Technology Bombay (India) 2009 B.Sc., Indian Inst of Technology Bombay (India) 2009
