Publications

Journal Publications:

Ashwin, K. P., Soumya Kanti Mahapatra, and Ashitava Ghosal. "Profile and contact force estimation of cable-driven continuum robots in presence of obstacles.", Mechanism and Machine Theory, Elsevier, Oct 2021 164: 104404. DOI: 10.1016/j.mechmachtheory.2021.104404
Ashwin, K. P., A. N. Chaudhury, and Ashitava Ghosal, ``Efficient Representation of Ducts and Cluttered Spaces for Realistic Motion Planning of Hyper-Redundant Robots through Confined Paths'', Computer-Aided Design, Elsevier, Feb 2020, 119:102777. DOI: 10.1016/j.cad.2019.102777
Ashwin, K. P., and Ashitava Ghosal, ``A soft-robotic end-effector for independently actuating endoscopic catheters'', Journal of Mechanisms and Robotics, ASME, Dec 2019, 11(6):061004. DOI: 10.1115/1.4044539
Ashwin, K. P., and Ashitava Ghosal, ``Static Modeling of Miniaturized Pneumatic Artificial Muscles, Kinematic Analysis, and Experiments on an Endoscopic End-Effector'', IEEE/ASME Transactions on Mechatronics, IEEE/ASME, Aug 2019, 24(4):1429. DOI: 10.1109/TMECH.2019.2916783
Ashwin, K. P., and A. Ghosal, ``A survey on static modeling of miniaturized pneumatic artificial muscles with new model and experimental results'', Applied Mechanics Reviews, ASME, July 2018, 70(4):040802. DOI: 10.1115/1.4041660

Conference Publications:

Ashish Bhalkikar, and K.P. Ashwin, ``Profile Estimation of Multi-Segmented Cable-Driven Continuum Robots Using Optimization Method'', 2nd International and 14th National conference on Industrial Problems in Machines and Mechanisms, December 22-23, IIT Dhanbad, Jharkhand, India
Mahapatra, Soumya Kanti, K. P. Ashwin, and Ashitava Ghosal. "Modelling of Cable-Driven Continuum Robots with General Cable Routing: a Comparison." IFToMM Asian Conference on Mechanism and Machine Science. Springer, Cham, 2021.
Ashwin, K. P., and Ashitava Ghosal, ``Profile estimation of a cable-driven continuum robot with general cable routing.'', IFToMM World Congress on Mechanism and Machine Science, Springer, Cham, 2019. DOI: 10.1007/978-3-030-20131-9_186
Ashwin, K. P., and Ashitava Ghosal, ``Forward kinematics of cable-driven continuum robot using optimization method.'' Mechanism and Machine Science, Springer, Singapore, 2018. DOI: 10.1007/978-981-15-4477-4_27
Ashwin, K. P., and Ashitava Ghosal, ``Mathematical Model for Pressure–Deformation Relationship of Miniaturized McKibben Actuators.'', Machines, Mechanism and Robotics, Springer, Singapore, 2019. DOI: 10.1007/978-981-10-8597-0_23
Ashwin, K., Don P. Jose, and Ashitava Ghosal, ``Modeling and analysis of a flexible end-effector for actuating endoscopic catheters.'' 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015.

BITS Pilani