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Dr. Abhishek Jha

Assistant Professor (Sr. Gr.), Department of Mechanical Engineering, School of Engineering, Chennai

Qualification: BE, M.Tech, Ph.D
@amrita.edu
ORCID ID
Researcher ID
Scopus Author ID
Research Interest: Artificial intelligence and Machine learning techniques in robotics, Human Robot Interaction, Robot kinematics and dynamics, Robot Programming by Demonstration

Bio

Dr. Abhishek Jha is currently working as Assistant Professor (Sr. Gr.) in the Department of Mechanical Engineering, Amrita School of Engineering, Amrita Vishwa Vidyapeetham, Chennai Campus. 

He has ten years of experience in the education sector. He has published 13 research articles in peer reviewed journals and conferences related to the robotics domain. Moreover, he has also filed two patents in the allied fields. He is active member of the various professional bodies and reviewer for the several journals. 

Publications

Journal Article

Year : 2021

A Framework for Robot Programming via Imitation

Cite this Research Publication : A Framework for Robot Programming via Imitation. In Advances in Mechanical Engineering, Lecture Notes in Mechanical Engineering. Springer, Singapore

Publisher : Springer

Year : 2018

Programming of an industrial robot using demonstrations and soft computing techniques

Cite this Research Publication : Khandekar, P. M., Chiddarwar, S. S., Jha, A. (2018) Programming of an industrial robot using demonstrations and soft computing techniques, Journal of Scientific and Industrial Research, Vol. 77, March (2018), 156-163.

Publisher : Journal of Scientific and Industrial Research

Year : 2017

Kinematics based approach for robot programming via human arm motion

Cite this Research Publication : Jha, A., Chiddarwar, S. S., Alakshendra, V., and Andulkar, M. V. (2017) Kinematics based approach for robot programming via human arm motion, Journal of the Brazilian Society of Mechanical Sciences and Engineering, 39(7), 2659-2675.

Publisher : Journal of the Brazilian Society of Mechanical Sciences and Engineering

Year : 2017

Robot programming by demonstration using teleoperation through imitation

Cite this Research Publication : Purpose
This paper aims to present a new learning from demonstration-based trajectory planner that generalizes and extracts relevant features of the desired motion for an industrial robot.

Design/methodology/approach
The proposed trajectory planner is based on the concept of human arm motion imitation by the robot end-effector. The teleoperation-based real-time control architecture is used for direct and effective imitation learning. Using this architecture, a self-sufficient trajectory planner is designed which has inbuilt mapping strategy and direct learning ability. The proposed approach is also compared with the conventional robot programming approach.

Findings
The developed planner was implemented on the 5 degrees-of-freedom industrial robot SCORBOT ER-4u for an object manipulation task. The experimental results revealed that despite morphological differences, the robot imitated the demonstrated trajectory with more than 90 per cent geometric similarity and 60 per cent of the demonstrations were successfully learned by the robot with good positioning accuracy. The proposed planner shows an upper hand over the existing approach in robustness and operational ease.

Research limitations/implications
The approach assumes that the human demonstrator has the requisite expertise of the task demonstration and robot teleoperation. Moreover, the kinematic capabilities and the workspace conditions of the robot are known a priori.

Practical implications
The real-time implementation of the proposed methodology is possible and can be successfully used for industrial automation with very little knowledge of robot programming. The proposed approach reduces the complexities involved in robot programming by direct learning of the task from the demonstration given by the teacher.

Originality/value
This paper discusses a new framework blended with teleoperation and kinematic considerations of the Cartesian space, as well joint space of human and industrial robot and optimization for the robot programming by demonstration.

Publisher : Industrial Robot: An International Journal

Conference Proceedings

Year : 2021

Formulation of Mathematical Model for Transient Belt Stretch for Full Load Starting of Belt Conveyor System

Cite this Research Publication : Sakharwade S.G., Jha A., (2021) Formulation of Mathematical Model for Transient Belt Stretch for Full Load Starting of Belt Conveyor System, Proceedings of the First International Conference on Robotics, Automation, and Intelligent Systems (ICRAINS-21).

Publisher : ICRAINS-21

Year : 2021

Design and Simulation of an Assistant Robot for Indoor Office Applications

Cite this Research Publication : Pandian A.A., Arun, Rafel C., Karthikeyan, Jha A., (2021) Design and Simulation of an Assistant Robot for Indoor Office Applications, , Proceedings of the First International Conference on Robotics, Automation, and Intelligent Systems (ICRAINS-21).

Publisher : ICRAINS-21

Year : 2020

Effect of head and PV array configurations on solar water pumping system

Cite this Research Publication : Arunendra K. Tiwari, Vilas R. Kalamkar, Rohan R. Pande, Sanjay K. Sharma, Vimal Chand Sontake, Abhishek Jha (2020), Effect of head and PV array configurations on solar water pumping system, Materials Today: Proceedings.

Publisher : Materials Today

Year : 2017

Robust Trajectory Tracking Control for an Omnidirectional Mobile Robot

Cite this Research Publication : Alakshendra, V., Chiddarwar S.S., and Jha, A. (2017) Robust Trajectory Tracking Control for an Omnidirectional Mobile Robot, Proceedings of the Third International Conference on Advances in Robotics (AIR-17).

Publisher : AIR-17

Year : 2017

Imitation Learning in Industrial Robots: A Kinematics basedTrajectory Generation Framework

Cite this Research Publication : Jha, A., Chiddarwar, S. S., Bhute, R. Y., Alakshendra, V., Nikhade, G., and Khandekar P.M (2017) Imitation Learning in Industrial Robots: A Kinematics basedTrajectory Generation Framework, Proceedings of the Third International Conference on Advances in Robotics (AIR-17).

Publisher : Proceedings of the Third International Conference on Advances in Robotics

Year : 2016

Motion Programming of SCORBOT ER-4u Using Fusion of Robot Kinematics and Inertial Sensor

Cite this Research Publication : Jha, A., Chiddarwar, S. S., and Alakshendra, V. (2016) Motion Programming of SCORBOT ER-4u Using Fusion of Robot Kinematics and Inertial Sensor, Proceedings of 26th International Conference on CAD/CAM, Robotics and Factories of the Future, 263-273.

Publisher : Proceedings of 26th International Conference on CAD/CAM

Year : 2016

Trajectory Tracking Control of Three-Wheeled Omnidirectional Mobile Robot: Adaptive Sliding Mode Approach

Cite this Research Publication : Alakshendra, V., Chiddarwar S.S., and Jha, A. (2016) Trajectory Tracking Control of Three-Wheeled Omnidirectional Mobile Robot: Adaptive Sliding Mode Approach, Proceedings of 26th International Conference on CAD/CAM, Robotics and Factories of the Future, 275-286.

Publisher : Proceedings of 26th International Conference on CAD/CAM, Robotics and Factories of the Future

Year : 2015

An integrated approach for robot training using Kinect and human arm kinematics

Cite this Research Publication : Jha, A., Chiddarwar, S. S., and Andulkar, M. V. (2015) An integrated approach for robot training using Kinect and human arm kinematics, Proceedings of the International Conference on Advances in Computing, Communications and Informatics (ICACCI-2015), 216-221.

Publisher : ICACCI-2015

Year : 2015

Application of human arm kinematics for robot path programming using imitation

Cite this Research Publication : Jha, A., Chiddarwar, S. S., and Andulkar, M. V. (2015) Application of human arm kinematics for robot path programming using imitation, Proceedings of the Second International Conference on Advances in Robotics (AIR-15), p. 15.

Publisher : AIR-15

Academic Qualification
2018  Ph.D 

Visvesvaraya National Institute of Technology, Nagpur 

Title: Imitation framework for industrial robot programming based on kinematics 

2018  M.Tech 

Chhattisgarh Swami Vivekanand Technical University, Bhilai 

2006  B.E. 

Pt. Ravishankar Shukla University, Raipur 

Professional Appointments
July 22- Present  Amrita School of Engineering, Amrita Vishwa Vidyapeetham, Chennai Campus, (TN) 
July 21- June 22  Karunya Institute of Technology and Sciences, Coimbatore, (TN) (Deemed to be University) 
Jan 20-March 21  GH Raisoni College of Engineering, Nagpur (Autonomous), Maharashtra 
Oct 18- Dec 19  Chhattisgarh Swami Vivekanand Technical University, Bhilai, Chhattisgarh 
Feb 07- June13  Chhatrapati Shivaji Institute of Technology, Durg, Chhattisgarh 
Awards & Recognitions
  • Ph.D. Scholar Fellowship by Ministry of H.R.D. Govt. of India (2013-2017) 
  • First Prize in Presentations and Posters category at the 3rd International Conference of Robotics Society of India, Advances in Robotics (AIR- 2017), Jun 28–July 2, IIT Delhi, Delhi, India
Technical Skills
  • Computational Tools: MATLAB, MAPLE 
  • Modelling Software: ROBOT STUDIO, SCORBASE, ROBOCELL, AUTODESK INVENTOR 
  • Programming Language: C 
Project Proposal Submitted

Title: Design and Development of Low-Cost Portable Manipulator for Cleaning Operation. Cost: INR 19,77,712/-, Agency: Technology Development Transfer, Department of Science and Technology (Under Review) 

Courses Taught (UG & PG)
  • Industrial Robotics  
  • Mobile Robotics 
  • Field and Service Robotics 
  • Medical Robotics 
  • Artificial Intelligence 
  • Machine Learning 
Technical Society Membership
  • Indian Society of Technical Education (I.S.T.E.)  
  • The Association for Machines and Mechanism, India (A.M.M.) 
  • The Robotics Society of India (R.S.I.) 
Workshops / Training Programs
  1. Resource Speaker 
    1. AICTE Training and Learning (ATAL) Academy Online Elementary FDP on “MODELING & SIMULATION IN MATLAB FOR MECHANICAL ENGINEERING” from 06/12/2021 to 10/12/2021 at Rungta College of Engineering & Technology, Bhilai. 
    2. AICTE – ATAL Academy sponsored Short Term Training Program on Mechanical Manufacturing and Monitoring using MATLAB, (MMM-2020) at Visvesvaraya National Institute of Technology, Nagpur (14th to 18th December, 2020).  
    3. Short Term Training Program on Mechanical Manufacturing and Monitoring using MATLAB, (MMM-2018) at Visvesvaraya National Institute of Technology, Nagpur (6th to 11th December, 2018).  
    4. Short Term Training Program on Mechanical Manufacturing and Monitoring using MATLAB, (MMM-2017) at Visvesvaraya National Institute of Technology, Nagpur (11th to 16th December, 2017).  

    Organized/Conducted 

    1. Workshop on Robotics at GHRCE, Nagpur (31st August -1st September, 2020). 
    2. Workshop on Typhoon Hardware-in-the Loop Real Time Simulators at CSVTU, Bhilai (18th – 19th October, 2019).  
    3. Workshop on VLSI Design using Cadance Tools Suite at CSVTU, Bhilai (14th – 17th October, 2019).  
    4. Faculty Development Program on Basics of Analog Circuits at Indian Institute of Technology, Bhilai (18th – 22nd September, 2019).  
    5. Workshop on Induction Training Program for Mentors at CSVTU, Bhilai (24th – 28th June, 2019).  
    6. Workshop on Research Paper Writing Skills at CSVTU, Bhilai (6th April, 2019).  
    7. Short Term Training Program on Image Processing Software- ERDAS & GEOMEDIA at CSVTU, Bhilai (6th – 8th March, 2019).  
    8. One-week International Workshop on Fuzzy Logic in Civil and Environmental Engineering at CSVTU, Bhilai (21st to 25th January, 2019).  

     

    Participated 

    1. Short Term Training Programme on Fundamental and Applications of CFD organized by SV National Institute of Technology, Surat (7th to 13th September, 2020).   
    2. Faculty Development Programme on Recent Trends on Mechanical Engineering organized by GH Raisoni College of Engineering, Nagpur (15th – 20th June 2020).  
    3. Faculty Development Programme on Mechanical Engineering organized by GH Raisoni College of Engineering, Nagpur (18th May – 13th June 2020).  
    4. Workshop on C and C++ organized by Teaching Learning Centre (ICT) IIT Bombay on 29th February 2020. 
    5. Faculty Development Program on Industrial Processes and Practices jointly organized by Indian Institute of Technology Bhilai and SAIL’s Bhilai Steel Plant, Bhilai (14th – 16th November, 2019).  
    6.  Short Term Training Course on Frontiers of Mechanical Engineering at Indian Institute of Technology, Bhilai (17th & 18th June, 2019).  
    7. National Level Workshop on Pedagogical Perspectives of SWAYAM-MOOCs at Jawaharlal Nehru Technological University, Hyderabad (15th & 16th May, 2019).  
    8. School on robotics at Visvesvaraya National Institute of Technology, Nagpur, (6th to 12th October, 2017).  
    9. 2nd SERB school on robotics at Indian Institute of Technology Madras, Chennai, (14th to 19th November, 2016).  
    10. Workshop on advanced sensors and actuators at Indian Institute of Technology, Kanpur, (28th to 31st August, 2016).  
    11. TEQIP School on system and control at Indian Institute of Technology, Kanpur, (4th to 9th August, 2015).  
    12. TEQIP Sponsored Short Term Training Program on computer aided strength of materials and analysis & design of machine & structural elements at Malviya National Institute of Technology, Jaipur, (24th to 28th December, 2012). 
    13. Staff Development Program on Core Teaching Skills by National Institute of Technical Teachers Training and Research Bhopal, at CSIT Durg, (19th to 23rd   May, 2008). 
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