The publications listed below are arranged chronologically (with the latest ones on top) within each group. Please use the side panel to navigate between groups, and in order to view a publication, please click on the links below its details.

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Patents

Universal Balancing Controller for Robust Lateral Stabilization of Bipedal Robots in Dynamic, Unstable Environments
Umashankar Nagarajan and Katsu Yamane
Disney Enterprises, Inc., Application No. 14/171208, Filed on February 23, 2014 (Pending)

Automatic Task-specific Model Reduction for Robots
Umashankar Nagarajan and Katsu Yamane
Disney Enterprises, Inc., Application No. 14/037183, Filed on September 25, 2013 (Pending)

Humanoid Fall Direction Change Among Multiple Objects
Ambarish Goswami, Umashankar Nagarajan and Yoshiaki Sakagami
Honda Motor Co., Ltd., U.S. Patent No.8369991, Issued on February 5, 2013
USPTO

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Refereed Journal Articles

Environment Information is Not Essential for Balancing in Dynamic, Unstable Environments
Umashankar Nagarajan and Katsu Yamane
IEEE Transactions on Robotics (T-RO), 2014 (Accepted)

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
Autonomous Robots (AURO), Volume 36, Issue 3, pp. 199 - 223, March 2014
Springer

The Ballbot: An Omnidirectional Balancing Mobile Robot
Umashankar Nagarajan, George Kantor and Ralph Hollis
International Journal of Robotics Research (IJRR), 2013 (Published online before print on November 13, 2013)
IJRR | PDF

Shape Space Planner for Shape-Accelerated Balancing Mobile Robots
Umashankar Nagarajan and Ralph Hollis
International Journal of Robotics Research (IJRR), Volume 32, Issue 11, pp. 1323 – 1341, September 2013
IJRR | PDF

Integrated Motion Planning and Control for Graceful Balancing Mobile Robots
Umashankar Nagarajan, George Kantor and Ralph Hollis
International Journal of Robotics Research (IJRR), Special Issue: Motion Planning for Physical Robots, Volume 32, Issue 9 – 10, pp. 1005 – 1029, August/September 2013
IJRR | PDF

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Refereed Conference Papers

Universal Balancing Controller for Robust Lateral Stabilization of Bipedal Robots in Dynamic, Unstable Environments
Umashankar Nagarajan and Katsu Yamane
IEEE International Conference on Robotics & Automation (ICRA), May 2014 (Accepted)

Automatic Task-specific Model Reduction for Humanoid Robots
Umashankar Nagarajan and Katsu Yamane
IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS), pp. 2578 - 2585, November 2013
IEEEXplore | PDF

Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots
Umashankar Nagarajan, George Kantor and Ralph Hollis
IEEE International Conference on Robotics & Automation (ICRA), pp. 136 - 141, May 2012
IEEEXplore | PDF

Planning in High-dimensional Shape Space for a Single-wheeled Balancing Mobile Robot with Arms
Umashankar Nagarajan, Byungjun Kim and Ralph Hollis
IEEE International Conference on Robotics & Automation (ICRA), pp. 130 - 135, May 2012
IEEEXplore | PDF

Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan, George Kantor and Ralph Hollis
IEEE Conference on Decision and Control (CDC), pp. 3566 - 3571, December 2010
IEEEXplore | PDF

Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan
Robotics: Science and Systems (RSS), pp. 243 - 250, June 2010
RSS | PDF

Generalized Direction Changing Fall Control of Humanoid Robots among Multiple Objects
Umashankar Nagarajan and Ambarish Goswami
IEEE International Conference on Robotics & Automation (ICRA), pp. 3316 - 3322, May 2010
IEEEXplore | PDF

Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot
Umashankar Nagarajan, George Kantor and Ralph Hollis
IEEE International Conference on Robotics & Automation (ICRA), pp. 3743 - 3748, May 2009
IEEEXplore | PDF

State Transition, Balancing, Station Keeping and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot
Umashankar Nagarajan, Anish Mampetta, George Kantor and Ralph Hollis
IEEE International Conference on Robotics & Automation (ICRA), pp. 998 - 1003, May 2009
IEEEXplore | PDF

Human-Robot Physical Interaction with Dynamically Stable Mobile Robots
Umashankar Nagarajan, George Kantor and Ralph Hollis
ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp. 281 - 282, March 2009
IEEEXplore | PDF

Adaptive Neuro - Fuzzy Controller for Stabilizing Autonomous Bicycle
Umashankar N and Himanshu Dutt Sharma
IEEE International Conference on Robotics & Biomimetics (ROBIO), pp. 1652 - 1657, Dec. 2006
IEEEXplore

A Model Approach for Perception based Intelligent Design
Himanshu Dutt Sharma and Umashankar N
IEEE International Conference on Robotics & Biomimetics (ROBIO), pp. 660 - 665, Dec. 2006
IEEEXplore

A Robotic Model (ROBI) of Autonomous Bicycle System
Himanshu Dutt Sharma and Umashankar N
International Conference on Computational Inteligence for Modelling Control and Automation (CIMCA), November 2006
IEEEXplore

Multi-criteria Intelligent Dispatching Control of Automated Guided Vehicles in FMS
Umashankar N and Karthik V N
IEEE International Conference on Cybernetics & Intelligent Systems (CIS), pp. 422 - 427, June 2006
IEEEXplore

Fuzzy Controller Design for an Autonomous Bicycle System
Himanshu Dutt Sharma and Umashankar N
IEEE International Conference on Engineering of Intelligent Systems (ICEIS), pp. 498 - 503, April 2006
IEEEXplore

Stabilization of Autonomous Bicycle using Fuzzy Controller with Maximum Allowable Lean Constraint
Himanshu Dutt Sharma and Umashankar N
International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS), December 2005
PDF

Simulation Model for Studying Inherent Stability Characteristics of Autonomous Bicycle
Himanshu Dutt Sharma, Sameer M Kale and Umashankar N
IEEE International Conference on Mechatronics and Automation (ICMA), pp. 193 - 198, July 2005
IEEEXplore

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Papers Under Review


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Theses

Fast and Graceful Balancing Mobile Robots
Umashankar Nagarajan
PhD Thesis, CMU-RI-TR-12-16, Carnegie Mellon University, Pittsburgh PA, USA, July 2012
PDF

Simulation Analysis of Rider Effect on Bicycle Stabilization
Umashankar Nagarajan
Undergraduate Thesis, Birla Institute of Technology and Science, Pilani, India, December 2006
PDF