Moh Shahid Khan

@manit.ac.in

Senior Research Fellow (PhD Scholar), Department of Mechanical Engineering
Maulana Azad National Institute of Technology (MANIT), Bhopal

Moh Shahid Khan


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https://researchid.co/drshahidhumanoid
Moh Shahid Khan: Roboticist | AI Researcher

Ph.D. candidate specializing in biped robot gait optimization, blending engineering with artificial intelligence. Known for constructing 'AZAD-16,' a small humanoid robot, showcasing expertise in CAD, 3D printing, and meticulous assembly.

Key Highlights:

Published groundbreaking review article on biped robot gait in '
Leading collaborative research on adaptive algorithms for biped robots, integrating AI and fuzzy logic.
Versatile skill set includes event anchoring, graphic design, and effective teamwork.
Join me in exploring the limitless possibilities at the intersection of engineering and artificial intelligence!

EDUCATION

PhD in Robotics, Maulana Azad National Institute of Technology (MANIT), Bhopal, India
July 2024, Expected Completion

M.Tech. in Thermal Engineering, Trinity Institute of Technology & Research
BE in Mechanical Engineering
Diploma in Mechanical Engineering


COMPETITIVE EXAMS (All India)

GATE: Graduate Aptitude Test in Engineering
• 2021 Marks: 30.84 | Score: 327 Organized by IIT Bombay, India
• 2015 Marks: 45.94 | Score: 489 Organized by IIT Kanpur, India
• 2014 Marks: 32.00 | Score: 381 Organized by IIT Kharagpur, India

Staff Selection Commission (SSC), All India Exam
• Junior Engineer (JE) 2015 Prelims and Mains Qualified

Council of Scientific and Industrial Research (CSIR), Central Institute of Mining and Fuel Research (CIMFR)
• Technical Officer (TO – Mechanical Engineering) 2019 Prelims Qualified

RESEARCH, TEACHING, or OTHER INTERESTS

Mechanical Engineering, Artificial Intelligence, Modeling and Simulation, Multidisciplinary
6

Scopus Publications

55

Scholar Citations

3

Scholar h-index

1

Scholar i10-index

Scopus Publications

  • Optimizing PID control for enhanced stability of a 16-DOF biped robot during ditch crossing
    Moh Shahid Khan, Ravi Kumar Mandava, Vijay Panchore
    Journal of Field Robotics, 2025
    The current research article discusses the design of a proportional–integral–derivative (PID) controller to obtain the optimal gait planning algorithm for a 16‐degrees‐of‐freedom biped robot while crossing the ditch. The gait planning algorithm integrates an initial posture, position, and desired trajectories of the robot's wrist, hip, and foot. A cubic polynomial trajectory is assigned for wrist, hip, and foot trajectories to generate the motion. The foot and wrist joint angles of the biped robot along the polynomial trajectory are obtained by using the inverse kinematics approach. Moreover, the dynamic balance margin was estimated by using the concept of the zero‐moment point. To enhance the smooth motion of the gait planner and reduce the error between two consecutive joint angles, the authors designed a PID controller for each joint of the biped robot. To design a PID controller, the dynamics of the biped robot are essential, and it was obtained using the Lagrange–Euler formulation. The gains, that is, KP, KD, and KI of the PID controller are tuned with nontraditional optimization algorithms, such as particle swarm optimization (PSO), differential evolution (DE), and compared with modified chaotic invasive weed optimization (MCIWO) algorithms. The result indicates that the MCIWO‐PID controller generates more dynamically balanced gaits when compared with the DE and PSO‐PID controllers.
  • Design of dynamically balanced gait for the biped robot while crossing the obstacle
    Moh Shahid Khan, Ravi Kumar Mandava
    Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, 2024
    The primary objective of this research work is to generate a dynamically balanced gait for the 16-DOF biped robot while crossing an obstacle using the concept of the zero moment point (ZMP). Also, the authors discussed both the theoretical justification and its practical feasibility on real biped robot. Initially, the position and orientation of the biped robot were obtained with the help of forward kinematics while crossing the obstacle. Later on, various joint angles of the biped robot were calculated using the inverse kinematics approach. Further, the Lagrange-Euler formulation approach was employed for evaluating the dynamics of the biped robot. To generate the smooth gait of the biped robot, a cubic polynomial equation has been assigned for foot and wrist trajectories in the sagittal plane and hip trajectories in the horizontal plane. This integration allows the robot to cross the obstacles while maintaining dynamic balance, marking a significant advancement while crossing the obstacle with a height and width equal to 50 mm, which is 16.10% of the length of the robot’s leg. While crossing the obstacle, the gait of the biped robot has been considered in three stages, such as landing the foot on the obstacle, landing the foot on the ground away from the obstacle by one leg and crossing over the obstacle by another leg. A simulation study has been conducted on MATLAB to verify the dynamically balanced gait while crossing the obstacle. Finally, the generated gait angles are fed into the real 16-DOF biped robot developed by the Robotics Lab at MANIT Bhopal. It has been observed that the generated gait at three stages is more dynamically balanced while crossing the obstacle.
  • A review on gait generation of the biped robot on various terrains
    Moh Shahid Khan, Ravi Kumar Mandava
    Robotica, 2023
    Day by day, biped robots’ usage is increasing enormously in all industrial and non-industrial applications due to their ability to move in any unstructured environment compared to wheeled robots. Keeping this in mind, worldwide, many researchers are working on various aspects of biped robots, such as gait generation, dynamic balance margin, and the design of controllers. The main aim of this review article is to discuss the main challenges encountered in the biped gait generation and design of various controllers while moving on different terrain conditions such as flat, ascending and descending slopes or stairs, avoiding obstacles/ditches, uneven terrain, and an unknown environment. As per the authors’ knowledge, no single study has been carried out in one place related to the gait generation and design of controllers for each joint of the biped robot on various terrains. This review will help researchers working in this field better understand the concepts of gait generation, dynamic balance margin, and the design of controllers while moving on various terrains. Moreover, the current article will also cover the different soft computing techniques used to tune the gains of the controllers. In this article, the authors have reviewed a vast compilation of research work on the gait generation of the biped robot on various terrains. Further, the authors have proposed taxonomies on various design issues identified while generating the gait in different aspects. The authors reviewed approximately 296 articles and discovered that all researchers attempted to generate the dynamically balanced biped gait on various terrains.
  • Design of Dynamically Balanced Gait for the Biped Robot While Crossing the Ditch
    Moh Shahid Khan, Ravi Kumar Mandava
    Acta Polytechnica Hungarica, 2023
    The current research work aims to generate the dynamically balanced gait for the 16-DOF biped robot while crossing the ditch by using the concept of the zero moment point (ZMP).Initially, forward kinematics was established to obtain the position and orientation of the biped robot while crossing the ditch.The various joint angles of the biped robot were estimated by deriving the inverse kinematics.Further, the dynamics of the biped robot was obtained using the Lagrange-Euler formulation.A cubic polynomial equation was assigned for the smooth motion of foot and wrist trajectories in the sagittal plane and hip trajectory in the horizontal plane.The obtained cubic polynomial trajectory for the foot was compared with the second-order and fifth-order polynomial trajectories in terms of dynamic balance margin (DBM).A simulation study was conducted to verify the dynamically balanced gait while crossing the ditch.Finally, the generated gait angles were tested on a real 16-DOF biped robot.It has been found that the generated gait is more dynamically balanced while crossing the ditch.
  • Estimation of Dynamic Balancing Margin of the 10-DOF Biped Robot by Using Polynomial Trajectories
    Moh Shahid Khan, Ravi Kumar Mandava
    Communications in Computer and Information Science, 2022
  • A Review on Sliding Mode Controller in Real- Time Applications
    Mukti Tomar, Moh Shahid Khan, Ravi K. Mandava, D. Giri Babu
    2022 IEEE International Students Conference on Electrical Electronics and Computer Science Sceecs 2022, 2022
    In current improvement in the control field, progressed control calculations are set up for the frameworks under the variety of state-space vulnerabilities due to displaying errors, nonlinearities, and outside instabilities. Amongst the diverse, vigorous control algorithms sliding-mode-control (SMC) is one such meant for the regulator technologist because of its benefits. Sliding-mode-control has developed quickly as a control in examination with other substantial control because of its highlights such as unresponsive toward vulnerabilities, decreased order sliding mode conditions, and nonlinear control. The reactions of the framework for SMC and PID regulators are acquired utilizing SIMULINK, and the outcomes are thought about. Here PID is taken as a reference controller.

RECENT SCHOLAR PUBLICATIONS

  • Optimizing PID control for enhanced stability of a 16‐DOF biped robot during ditch crossing
    MS Khan, RK Mandava, V Panchore
    Journal of Field Robotics 42 (2), 559-583 , 2025
    2025
    Citations: 2
  • Design of dynamically balanced gait for the biped robot while crossing the obstacle
    MS Khan, RK Mandava
    Proceedings of the Institution of Mechanical Engineers, Part C: Journal of … , 2024
    2024
    Citations: 4
  • A review on gait generation of the biped robot on various terrains (vol 41, pg 1888, 2023)
    MS Khan, RK Mandava
    Robotica 41 (10), 3233-3233 , 2023
    2023
  • A review on gait generation of the biped robot on various terrains
    MS Khan, RK Mandava
    Robotica 41 (6), 1888-1930 , 2023
    2023
    Citations: 41
  • Design of dynamically balanced gait for the biped robot while crossing the ditch
    MS Khan, RK Mandava
    Acta Polytechnica Hungarica 20 (7), 269-288 , 2023
    2023
    Citations: 4
  • Estimation of dynamic balancing margin of the 10-Dof biped robot by using polynomial trajectories
    MS Khan, RK Mandava
    International Conference on Machine Learning, Image Processing, Network … , 2022
    2022
    Citations: 1
  • A review on sliding mode controller in real-time applications
    M Tomar, MS Khan, RK Mandava, DG Babu
    2022 IEEE International Students' Conference on Electrical, Electronics and … , 2022
    2022
    Citations: 3
  • A REVIEW ON IMPROVEMENT OF HEAT TRANSFER RATE BY PASSIVE METHODS
    MS Khan, A Singhai
    2019
  • THERMAL ANALYSIS OF CORRUGATED PLATE HEAT EXCHANGER BY USING ANSYS SOFTWARE THROUGH FEA METHOD
    MS Khan, A Singhai
    2019

MOST CITED SCHOLAR PUBLICATIONS

  • A review on gait generation of the biped robot on various terrains
    MS Khan, RK Mandava
    Robotica 41 (6), 1888-1930 , 2023
    2023
    Citations: 41
  • Design of dynamically balanced gait for the biped robot while crossing the obstacle
    MS Khan, RK Mandava
    Proceedings of the Institution of Mechanical Engineers, Part C: Journal of … , 2024
    2024
    Citations: 4
  • Design of dynamically balanced gait for the biped robot while crossing the ditch
    MS Khan, RK Mandava
    Acta Polytechnica Hungarica 20 (7), 269-288 , 2023
    2023
    Citations: 4
  • A review on sliding mode controller in real-time applications
    M Tomar, MS Khan, RK Mandava, DG Babu
    2022 IEEE International Students' Conference on Electrical, Electronics and … , 2022
    2022
    Citations: 3
  • Optimizing PID control for enhanced stability of a 16‐DOF biped robot during ditch crossing
    MS Khan, RK Mandava, V Panchore
    Journal of Field Robotics 42 (2), 559-583 , 2025
    2025
    Citations: 2
  • Estimation of dynamic balancing margin of the 10-Dof biped robot by using polynomial trajectories
    MS Khan, RK Mandava
    International Conference on Machine Learning, Image Processing, Network … , 2022
    2022
    Citations: 1
  • A review on gait generation of the biped robot on various terrains (vol 41, pg 1888, 2023)
    MS Khan, RK Mandava
    Robotica 41 (10), 3233-3233 , 2023
    2023
  • A REVIEW ON IMPROVEMENT OF HEAT TRANSFER RATE BY PASSIVE METHODS
    MS Khan, A Singhai
    2019
  • THERMAL ANALYSIS OF CORRUGATED PLATE HEAT EXCHANGER BY USING ANSYS SOFTWARE THROUGH FEA METHOD
    MS Khan, A Singhai
    2019