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Pranav A. Bhounsule
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Proceedings Papers

Control of a Bipedal Walking Using Partial Feedback Linearization and Gaussian Process Regression-Based of the Step-to-Step Map

Daniel Torres, Ernesto Hernandez Hinojosa, Pranav A. Bhounsule
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A063, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116945
https://doi.org/10.1115/DETC2023-116945
View Paper titled, Control of a Bipedal Walking Using Partial Feedback Linearization and Gaussian Process Regression-Based of the Step-to-Step Map
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Topics: Feedback
Proceedings Papers

Gaussian Process Regression for Sim-to-Real Transfer of Hopping Gaits

Jeremy Krause, Adel Alaeddini, Pranav A. Bhounsule
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A065, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116959
https://doi.org/10.1115/DETC2023-116959
View Paper titled, Gaussian Process Regression for Sim-to-Real Transfer of Hopping Gaits
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Topics: Control equipment, Cycles, Design, Flight, Hardware, Poincaré maps, Robots, Simulation
Proceedings Papers

Optimal Control of a 5-Link Biped Using Quadratic Polynomial Model of Two-Point Boundary Value Problem

Ernesto Hernandez-Hinojosa, Aykut Satici, Pranav A. Bhounsule
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A005, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70733
https://doi.org/10.1115/DETC2021-70733
View Paper titled, Optimal Control of a 5-Link Biped Using Quadratic Polynomial Model of Two-Point Boundary Value Problem
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Topics: Boundary-value problems, Optimal control, Polynomials, Real-time control, Ditches, Feedback, Robots, Simulation
Proceedings Papers

Receding Horizon Control for a 2D Point-Mass Hopping Model Navigating on Terrain With Stepping Stones and Stairs

Ali Zamani, Pranav A. Bhounsule
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A014, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3314
https://doi.org/10.1115/DSCC2020-3314
View Paper titled, Receding Horizon Control for a 2D Point-Mass Hopping Model Navigating on Terrain With Stepping Stones and Stairs
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Topics: Stairs, Flight, Dynamics (Mechanics), Nonlinear programming
Proceedings Papers

Approximation of the Step-to-Step Dynamics Enables Computationally Efficient and Fast Optimal Control of Legged Robots

Pranav A. Bhounsule, Myunghee Kim, Adel Alaeddini
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A050, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22028
https://doi.org/10.1115/DETC2020-22028
View Paper titled, Approximation of the Step-to-Step Dynamics Enables Computationally Efficient and Fast Optimal Control of Legged Robots
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Topics: Approximation, Dynamics (Mechanics), Optimal control, Robots, Regression models, Stability, Artificial neural networks, Equations of motion, Optimization, Pendulums
Journal Articles

Domain Randomization Using Deep Neural Networks for Estimating Positions of Bolts

Ezra Ameperosa, Pranav A. Bhounsule
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. October 2020, 20(5): 051006.
Paper No: JCISE-19-1273
https://doi.org/10.1115/1.4047074
Published Online: May 26, 2020
View Articletitled, Domain Randomization Using Deep Neural Networks for Estimating Positions of Bolts
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Topics: Artificial neural networks, Computers, Texture (Materials)
Proceedings Papers

Domain Randomization for Detection and Position Estimation of Multiples of a Single Object With Applications to Localizing Bolts on Structures

Ezra Ameperosa, Pranav A. Bhounsule
Proc. ASME. IDETC-CIE2019, Volume 1: 39th Computers and Information in Engineering Conference, V001T02A007, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97393
https://doi.org/10.1115/DETC2019-97393
View Paper titled, Domain Randomization for Detection and Position Estimation of Multiples of a Single Object With Applications to Localizing Bolts on Structures
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Topics: Aircraft, Artificial neural networks, Automobiles, Computers, Fasteners, Maintenance, Noise (Sound), Ships, Simulation, Texture (Materials)
Proceedings Papers

Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso

Wankun Sirichotiyakul, Aykut C. Satici, Eric S. Sanchez, Pranav A. Bhounsule
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A067, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97955
https://doi.org/10.1115/DETC2019-97955
View Paper titled, Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso
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Topics: Wheels, Control equipment, Closed loop systems, Dynamics (Mechanics), Energy dissipation, Modeling, Poincaré maps, Simulation, Steady state
Journal Articles

A Three-Dimensional Printed, Nonassembly, Passive Dynamic Walking Toy: Design and Analysis

Christian L. Treviño, Joseph D. Galloway, II, Pranav A. Bhounsule
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061009.
Paper No: JMR-17-1211
https://doi.org/10.1115/1.4040634
Published Online: September 21, 2018
View Articletitled, A Three-Dimensional Printed, Nonassembly, Passive Dynamic Walking Toy: Design and Analysis
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Topics: Additive manufacturing, Design, Hinges, Stability
Includes: Supplementary data
Journal Articles

A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker

Pranav A. Bhounsule, Ali Zamani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051011.
Paper No: JMR-17-1018
https://doi.org/10.1115/1.4037440
Published Online: August 18, 2017
View Articletitled, A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker
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Topics: Control equipment, Dynamics (Mechanics), Eigenvalues, Robustness, Stability, Torque, Actuators, Limit cycles, Failure, Robots
Proceedings Papers

A Task-Level Iterative Learning Control Algorithm for Accurate Tracking in Manipulators With Modeling Errors and Stringent Joint Position Limits

Pranav A. Bhounsule, Abhishek A. Bapat, Katsu Yamane
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T27A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9759
https://doi.org/10.1115/DSCC2016-9759
View Paper titled, A Task-Level Iterative Learning Control Algorithm for Accurate Tracking in Manipulators With Modeling Errors and Stringent Joint Position Limits
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Topics: Algorithms, Errors, Iterative learning control, Manipulators, Modeling, End effectors, Kinematics, Robots, Redundancy (Engineering), Stability
Proceedings Papers

Dead-Beat Control of Walking for a Torso-Actuated Rimless Wheel Using an Event-Based, Discrete, Linear Controller

Pranav A. Bhounsule, Ezra Ameperosa, Scott Miller, Kyle Seay, Rico Ulep
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A042, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59563
https://doi.org/10.1115/DETC2016-59563
View Paper titled, Dead-Beat Control of Walking for a Torso-Actuated Rimless Wheel Using an Event-Based, Discrete, Linear Controller
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Topics: Control equipment, Wheels, Engineering prototypes, Errors, Hardware, Limit cycles, Modeling, Poincaré maps, Robots, Steady state
Journal Articles

Discrete-Decision Continuous-Actuation Control: Balance of an Inverted Pendulum and Pumping a Pendulum Swing

Pranav A. Bhounsule, Andy Ruina, Gregg Stiesberg
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2015, 137(5): 051012.
Paper No: DS-14-1118
https://doi.org/10.1115/1.4028851
Published Online: May 1, 2015
View Articletitled, Discrete-Decision Continuous-Actuation Control: Balance of an Inverted Pendulum and Pumping a Pendulum Swing
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Topics: Control equipment, Delays, Pendulums, Design