Ph.D, M.Tech, BE

Dr. Ganesha Udupa received his M.Tech. in Product Engineering Systems Technology and his Ph.D. in Mechanical Engineering (Precision Engineering and Metrology) from Indian Institute of Technology, Chennai. His doctoral dissertation was titled, "Investigations on Surface Topography Characterization by Confocal Microscopy." He has Post Doctoral Research Felowship from Nanyang Technological University (NTU), Singapore.

Dr. Ganesha Udupa joined Amrita’s Department of Mechanical Engineering in 2004 as chairperson with years of international experience.

He continued on as a Research Fellow in the School of Mechanical and Production Engineering (SMPE) at NTU. He was also associated with the Innovation in Manufacturing System and Technology (IMST) Program undertaken as part of the university’s alliance with the Massachusetts Institute of Technology (MIT), USA.

While at NTU, Dr. Udupa conducted research at the Precision Engineering and Nanotechnology Center. He also developed a novel sub-surface nano-defects detection system for silicon wafers, for which he received a Singapore patent and filed for a US patent.

Dr. Udupa has published more than 80 papers in National and International Journals and conference proceedings.He has five patents to his credit.He was conferred the Best paper award (1st prize) for the outstanding Ph.D research paper at the 17th AIMTDR conference, Jan 1997, Warangal, India. He was received with a Foreign Travel Grant from CSIR for research paper presentation at 11th ASPE Annual meeting, Monterey, California, USA,1996.

Dr. Udupa was a principal investigator for the joint Amrita-ISRO funded project on Soft Lunar Lander and founded Amrita- ISRO & MISR labs. He is a mentor for Univeristy Mars Rover project wherein students regularly attend world Rover Challenge to be held in USA & European countries. One of his papers has recently presented and well received at the IEEE conference on Oct 29, 2010 at The Korean Institute of Science and Technology.

Dr. Udupa has guided numerous students for Ph.D., masters and bachelors level projects at Amrita. His current areas of interest include Robotics, Precision Engineering, Nano Metrology, Manufacturing Technology, Computer-Aided Inspection, Optical Instrumentation and Design of Interferometers, Holography / Shearography for NDT and Opto-Mechatronics. He was the key person of AICT sponsored National Nano Technology Workshop, conducted at Amrita. He organised the National Level Robotics Workshop on Oct 14-16 2006, April 4-6, 2008 and Jan 29-31, 2010 at Amritapuri campus, Kollam, Kerala.


Publication Type: Conference Proceedings

Year of Publication Title


P. Giridharan, Rajeevlochana G. Chittawadigi, and Dr. Ganesh Udupa, “Intuitive Manipulation of Delta Robot using Leap Motion”, 4th International and 19th National Conference on Machines and Mechanisms (iNaCoMM2019). Springer Publications , Mandi, Himachal Pradesh, 2019.

Publication Type: Journal Article

Year of Publication Title


Mata Amritanandamayi Devi, Dr. Ganesh Udupa, and Pramod Sreedharan, “A novel underactuated multi-fingered soft robotic hand for prosthetic application”, Robotics and Autonomous Systems (Elsevier) , vol. 100, pp. 267–277, 2017.[Abstract]

Robotic hand plays a very important role as it is required to hold and place the object at the desired location. There has been a lot of research on the flexible pneumatic rubber or polymer based actuators for soft gripper applications. This paper is investigating asymmetric bellow flexible pneumatic actuator (ABFPA) as a bending joint made of suitable rubber material in the construction of a novel underactuated multi-jointed, multi-fingered soft robotic hand for prosthetic application. The proposed asymmetric actuator has a single internal chamber and is simple, compact and easy to manufacture. Several actuator designs are analyzed and validated experimentally. It is found that the effect of shape and eccentricity of the ABFPA plays an important role in the bending of the actuator. By proper selection of materials and manufacturing of the ABFPA with reinforcement, a versatile dexterous hand can be fabricated. The present work has paved the way for extensive research on this innovative technique as it holds out the true potential for innumerable and very interesting application in various areas.

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Mata Amritanandamayi Devi, Dr. Ganesh Udupa, and Pramod Sreedharan, “Anti-Bourdon tube pressure gauge”, Measurement, vol. 101, pp. 190 - 199, 2017.[Abstract]

A novel pressure transducer is investigated in this paper, which works on an anti-Bourdon tube (ABT) principle due to dual effect of differential expansion of the tube at various points and the end moment induced due to asymmetry of cross section. Different materials such as rubber, stainless steel, nickel, brass, copper etc. and different geometries of tubes and bellows are investigated experimentally and analysed using theoretical formulation and Finite Element Analysis. Prototypes of the pressure gauges using rubber, nickel and stainless steel bellow as sensing elements are fabricated and tested. The proposed sensing element will behave similar to the asymmetric metallic tubes but will have about three times higher flexibility and grater rate of expansion and deflection under internal pressure. Comparative results with the existing Bourdon pressure gauge show that the \{ABT\} pressure gauge is simple in construction, economical for fabrication, reliable and promising pressure gauge in future. At the end, various design configurations of the pressure sensing element are discussed. By proper selection of geometry, materials and manufacturing of the asymmetric metallic tubes or bellows as sensing element, an \{ABT\} pressure gauge can be fabricated to measure pressure ranging from low to high or very high pressures for various potential applications which is not possible using Bourdon tube pressure gauge. More »»


A. Krishnan, Dr. Ganesh Udupa, and Pramod Sreedharan, “Design and simulation of lunar soft lander”, International Journal of Control Theory and Applications, vol. 9, pp. 5835-5843, 2016.[Abstract]

In this paper, dynamic simulation and analysis for designing the soft landing of a lunar lander is focused. The primary objective of the lunar lander is to land safely on the surface of moon, without causing the lunar lander to topple and must attenuate the landing loads to preclude damage to the lander structure. The dynamic structural model of lunar lander is modelled and simulation described on Multi-body Dynamics software MSC ADAMS is discussed. The lander has important features of spring and damper system as shock absorber on the primary struts for energy absorption. To obtain the safe landing, various configuration design parameters are considered such as coefficient of friction, initial touchdown vertical and horizontal velocity components, lunar slope and crushing force of energy absorbing material in the leg struts. Effects on vehicle landing stability due to variations in vehicle velocity, orientation and the surface slope are discussed.

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A. S, VJ, U., Kalathil, S. T., Simon, A., CM, H., Mathew, D. P., Maya Menon, Basil, P., Ramachandran, R., Sengar, A., Balakrishnan, A., Dutt, K., Murali, A., Tilak, C. Krishna, Suresh, A., Suresh, A., B. Shankar, and Dr. Ganesh Udupa, “Design and Development of an Intelligent Rover for Mars Exploration (Updated)”, The Mars Society with permission, 2015.[Abstract]

The paper describes various issues faced by rover in an alien environment and attempts to solve each of them using innovative design modifications. The rover features a bioinspired eight-wheeled drive mechanism, an integrated robotic arm and a stereo vision technique for advanced image processing. The system control, for both the rover as well the robotic arm, is done using microcontrollers and microprocessors such as Arduino, Intel NUC, and Raspberry Pi. Inspired from nature, a reflex mechanism has also been integrated into the rover design to minimize damage, by automated safety reflexes. The arm is so designed to switch between three different end effectors depending upon the task to be performed. The 8-wheeled rover combines the rocker bogie mechanism and four rocker wheels and four spider-leg wheels. The spider-legs ensures that it can traverse over a considerable height greater than the chassis height which could be as much as thrice the diameter of the wheels, whereas the current NASAS curiosity rocker bogie system can only traverse over a height twice the diameter of the wheel. Additionally, as they are actuatorpowered, the slope of the rover can be adjusted in such a way that it does not topple for a wide range of inclination and allows the rover to traverse over highly rugged terrain. It provides a large amount of traction with the ground even in terrains where there is a negative slope or vertical drop of around 1m using a springdamper suspension mechanism whereas the rocker bogie mechanism provides traction only due to its body weight The Rover finds applications in the exploration of other planets, deep sea vents

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Publication Type: Conference Paper

Year of Publication Title


, Ajithkumar, N., Kalathil, S. T., Simon, A., VJ, U., Mathew, D. P., Basil, P., Dutt, K., and Dr. Ganesh Udupa, “An Advanced Spider like Rocker-Bogie Suspension System for Mars Exploration Rovers”, in The 4th International Conference on Robot Intelligence Technology and Applications (RITA) 2015, Bucheon, Korea, 2015.


K. Aditya, Chen, Y., Kim, E. - H., Dr. Ganesh Udupa, and Lee, Y. K., “Development of Bio-machine based on the plant response to external stimuli”, in Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on, Karon Beach, Phuket, 2011, pp. 1218-1223.[Abstract]

In the area of Bio robotics, intense research work is going on in plant intelligence. Any living cell continuously receives information from the environment. The plant electrical signal is the reaction of plants to the stimulation due to various environmental conditions. Action potentials are responsible for signaling between plant cells because they can be induced and transmitted rapidly within the plant tissue. Communication from the plants can be achieved through modulation of the amplitude, frequency change, and change in resistance and the rate of propagation of the electrical signal in the plant tissue. In this paper research is conducted on the plant signals and its response to various environments. The change of frequency of action potential signals in plant named Pepe (Descoingsii x hawothioides) under different light modes are studied. Electromyography (EMG) electrodes and Needle type conductive electrodes along with electronic modules are used to collect and transform the information from the plants. Analysis on the plant signal has been carried out. Inverse Fast Fourier transform (IFFT) is used to convert frequency to voltage signal. The change in frequency of the plant action potential signals to different light modes are used for the control of the Bio-machine. The present work paved an extensive research towards plant intelligence. More »»


Dr. Ganesh Udupa, Pramod Sreedharan, and Aditya, K., “Robotic gripper driven by flexible microactuator based on an innovative technique”, in Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, Seoul, 2010, pp. 111-116.[Abstract]

In the area of Robotics, the gripper plays a very important role as it is required to hold and place the object at the desired location. The requirements of gripper in terms of load capacity, and flexibility to adapt to the form of the object with tactile sensing capability which suit the strength of the object are necessary. Extensive research work is under way in the design of soft gripper or dexterous hand. An exhaustive survey of all such grippers conveys the idea of higher and higher sophistication with innumerable components and elaborate controls with programmable ability has been the outcome of research. Flexible micro actuators (FMA) proposed by earlier researchers are having two or more internal chambers and the internal pressure of each are controlled independently through flexible tubes which are connected to pressure control valves. The proposed actuator has a single internal chamber and is simple, compact and easy to manufacture. In this paper, a flexible microactuator (FMA) driven by a pneumatic/ hydraulic system with single internal chamber has been developed for robotic soft gripper. By proper selection and manufacturing of the asymmetric tube flexible actuator with reinforcement, a versatile dexterous hand can be fabricated which is suited for dynamic application closely approximating to the human hand. The present work has paved the way for extensive research on this innovative technique as it holds out the true potential for innumerable and very interesting application in various areas such as micro robots, pipeline inspection robots, underwater robots and walking robots. ©2010 IEEE. More »»