Quantitative Estimation of Dynamic Modulation in Impedance Controlled Remote Environment Sensing, Srikar A, Vijay Kumar P, Senthur Raj, and Asokan T.
IEEE Sensors Journal, 2020.
Impedance control is often preferred in teleoperated robots due to its capability to modulate the dynamic relationship between the position and force of the robot. A methodology for quantitatively determining the desired dynamic parameters of the robot, in order to have stable interaction with the environment, is proposed in this paper.

Ibex: A reconfigurable ground vehicle with adaptive terrain navigation capability,
Senthur Raj, Manu Aatitya R P, Jack Samuel S, J Veejay Karthik and Dr. D. Ezhilarasi.
International Conference on Robotics and Automation (ICRA), Paris, 2020.
This paper presents a unique unmanned ground vehicle with a dynamic wheelbase and an adaptive thrust based friction optimization scheme that aids in the traversal of steep slopes and slippery surfaces. The vehicle is capable of adapting itself to the surface topography using an impedance-based stabilization module.

Parameter Determination Technique for Impedance Control of Interactive Robots Using Transformation Matrices,
Srikar A, Senthur Raj, Vijay Kumar P, Asokan T.
IFAC Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), Chennai, 2020.
Impedance controllers which modulate the dynamic relationship between position and force are advantageous. Yet, impedance control has always been plagued by the challenge of determining the degree to which the dynamics need to be modified. The issue of quantitatively determining the desired parameters is addressed in this paper.

Dynamic Modulation of Human Interactive Robots using Impedance Control,
Srikar A, Senthur Raj, Vijay Kumar P, Asokan T.
International Conference on Advances in Robotics- AIR 2019, Chennai, 2019.
Human-robot interaction is prominently seen in industries, haptics etc. where the underlying objective is to make the robot assistive in nature to the human. A methodology is proposed herein to improve the assistive nature of the robot by reducing the inertia felt by the human. An impedance controller is presented to modulate the dynamics of the manipulator and assign an apparent inertia to the robot.