Aakash Khandelwal

2 accepted papers

2026

Robotic Nonprehensile Manipulation of a Pinned Beam Using Impulsive Forces

RA-L 2026

The problem of juggling a pinned beam using intermittent impulsive forces, applied by a general-purpose robot, is addressed. The beam is juggled between two angular configurations by synchronizing the trajectory of the robot with the motion of the beam using virtual holonomic constraints (VHCs); the

Cited by 0 Source ↗Scholar ↗

2023

Design of Impact-Free Gaits for Planar Bipeds and Their Stabilization Using Impulsive Control

Aakash Khandelwal, Nilay Kant, Ranjan Mukherjee

RA-L 2023

The problem of designing and stabilizing impact-free gaits is considered for point-foot planar bipeds. A set of geometric constraints, which eliminate impact forces at the time of leg interchange, are used to design the gaits. A family of gaits, where the stride length and walking speed can be chose

Cited by 5 Source ↗Scholar ↗