Reinforcement Learning for Quadrupedal Locomotion: Current Advancements and Future Perspectives Maurya Gurram, Prakash Kumar Uttam, Shantipal S. Ohol 2025 9th International Conference on Mechanical Engineering and Robotics Research Icmerr 2025, 2025 In recent years, reinforcement learning (RL) based quadrupedal locomotion control has emerged as an extensively researched field, driven by the potential advantages of autonomous learning and adaptation compared to traditional control methods. This paper provides a comprehensive study of the latest research in applying RL techniques to develop locomotion controllers for quadrupedal robots. We present a detailed overview of the core concepts, methodologies, and key advancements in RL-based locomotion controllers, including learning algorithms, training curricula, reward formulations, and simulation-to-real transfer techniques. The study covers both gait-bound and gait-free approaches, highlighting their respective strengths and limitations. Additionally, we discuss the integration of these controllers with robotic hardware and the role of sensor feedback in enabling adaptive behavior. The paper also outlines future research directions, such as incorporating exteroceptive sensing, combining model-based and model-free techniques, and developing online learning capabilities. Our study aims to provide researchers and practitioners with a comprehensive understanding of the state-of-the-art in RL-based locomotion controllers, enabling them to build upon existing work and explore novel solutions for enhancing the mobility and adaptability of quadrupedal robots in real-world environments.
Design and Kino-dynamic Modeling of SERP: A Modular Snake Robot Anish Patil, Yash Gavit, S.S. Ohol 2025 9th International Conference on Mechanical Engineering and Robotics Research Icmerr 2025, 2025 This paper presents the design and kino-dynamic modeling of SERP, a novel hyper-redundant articulated snake-like robot, focusing on its modular structure and locomotion. The robot comprises of eight modules, each equipped with two degrees of freedom enabled by individual motors for both revolute and twist movements. This alternating joint configuration enhances maneuverability and adaptability to varied terrains. The modules feature a hexagonal cross-section, optimizing ground interaction and friction manipulation. All electronics and power supplies are onboard, ensuring untethered functionality and increased operational flexibility. The paper also proposes and simulates a kino-dynamic model in MATLAB, incorporating frictional forces and torques, joint parameters and constraints for serpent-like locomotion along with the results of a test case on helical rolling motion. This robot model aims to advance the capabilities of snake robots in complex environments where conventional robots face challenges. The results proved that the modular snake robot's unique design enhanced terrain adaptability and biomimetic locomotion, while the kino-dynamic model validated the proposed robot's feasibility, usage and performance parameters.
Virtual Reality-Enhanced Control of Industrial Manipulators: A Human-in-the-Loop Approach Shritika, Maurya Gurram, Shantipal S. Ohol International Conference on Artificial Intelligence and Emerging Technologies Icaiet 2025, 2025 The integration of virtual reality (VR) in industrial manipulator control bridges the gap between human intuition and robotic precision, allowing real-time, immersive teleoperation. This paper presents a VR-based control framework utilizing an Oculus Quest 2 VR device and a depth-sensing camera to provide an immersive and adaptive interface for operating robotic manipulators. The system employs a master-slave architecture, where the controller's positional and rotational data is mapped to the manipulator's end-effector pose via coordinate transformations and inverse kinematics (IK). Additionally, a staggered point cloud transmission method is introduced to optimize data flow and minimize transmission delays, ensuring a smooth, real-time visualization experience. Experimental evaluations demonstrate that the proposed framework achieves precise motion mapping, with low tracking errors. Furthermore, the human-in-the-loop (HITL) mechanism allows operators to detect and compensate for point cloud errors, enhancing system adaptability in dynamic environments. By combining VR-driven manipulation, real-time depth sensing, and HITL error correction, this framework provides a scalable, high-precision solution for remote industrial automation, hazardous material handling, and defense applications. The results indicate that VR-enhanced teleoperation significantly improves accuracy, responsiveness, and operator situational awareness, paving the way for next-generation human-robot collaboration.
Advanced Phase-Lead Augmented PI Control for High-Precision 2-DOF Turret Positioning Girish V. Lakhekar, Vivek Lingade, Dhiraj Pawar, Sarthak Shukla, Shantipal S. Ohol, Ajay Lohia, Ramesh Agnihotri 2025 IEEE 4th International Conference on Smart Technologies for Power Energy and Control Stpec 2025 Conference Report, 2025 This paper addresses the dynamic modelling and position tracking control problem of an Unmanned Turret System (UTS). A complete dynamic model of the UTS is derived using euler's lagrange equation, incorporating mechanical parameters and system constraints. A major challenge in controlling the UTS is achieving <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{Z}$</tex>-axis stabilization and high tracking accuracy in the presence of model uncertainties and external disturbances. To address this critical issue, sliding mode control technique designed for nonlinear uncertain turret model based on robotic analysis, and an adaptive Proportional-Integral (PI) augmented lead compensator is designed to regulate the azimuth and elevation angles effectively. The study focuses comprehensively on the effects of parameter uncertainties-particularly in the moment of inertia and damping coefficient-which significantly influence inertial tracking performance and overall system stability. The proposed adaptive PI + lead compensator scheme ensures rapid response characteristics and high tracking accuracy while compensating for parameter variations and external disturbances encountered in real-world scenarios. Extensive simulation results validate the robustness and effectiveness of the proposed control technique across multiple operating conditions, demonstrating superior performance compared to conventional control approaches in precision targeting applications.
Development of hybrid locomotive in-pipe robot Atul Gargade, Shantipal Ohol International Journal of Manufacturing Research, 2024 This paper describes the development of an autonomous hybrid locomotive in-pipe inspection robot (IPIR) version 4. The novelty of version 4 is its hybrid steering mechanism and stability, manoeuvrability, mobility, flexibility, and diameter adjustability inside the different pipe elements. The vertical mobility and diameter adjustability of IPIR are improved by optimising its spring design in such a way that version 4 can pass through 8-inch to 10-inch diameter pipe elements at 0-degree, 45-degree and 90-degree inclinations. The IPIR version 4 is composed of a front leg system, a back leg system, connectors and two DC motors. To verify the potency of the steering mechanism, several experiments of version 4 are conducted through basic structures such as straight pipes, couplings, and bends of 8-inch, 9-inch and 10-inch in diameter. This robot will be utilised for the inspection of water pipelines, gas pipelines and drainpipes. [Submitted 20 December 2022; Accepted 2 January 2023]
DeepExtract: Neural Networks Based Image Keypoints Extraction for Indirect SLAM Algorithms Maurya Gurram, Prakash Kumar Uttam, Shantipal S. Ohol 6th IEEE International Conference on Artificial Intelligence in Engineering and Technology Iicaiet 2024, 2024 Indirect SLAM (Simultaneous Localization and Mapping) algorithms primarily rely upon image features to estimate poses and to perform loop closure. Traditional image key point extraction algorithms fail to detect features in the image in some cases due to various reasons like low exposure, lack of contours and hardware constraints. To tackle this issue, we propose a U-Net neural network based image keypoint extraction algorithm that works on low cost camera hardware. We utilize an unconventional approach by applying image segmentation techniques to extract Shi- Tomashi features for training the neural network. It is an attempt to building innovative approaches for Deep learning-based visual odometry problem. The primary focus of this work is to establish a new research direction for deep learning based keypoint extraction tailored for real-time SLAM on low-cost and low-power devices. We aim to lay the foundations for further investigation into segmentation-based key-point modeling and its impact on critical SLAM components like feature tracking, mapping, and loop closure detection.
Shape Optimization of an Asymmetric Airfoil for Low Wind Speed Region having Adjoint-Based Optimization Technique P. Shinde, S. S. Ohol, V. K. Tripathi Journal of Applied Fluid Mechanics, 2023 The land needed to install wind turbines is shrinking as power generation from renewable energy sources increases significantly. A large number of studies are being conducted to maximize the power extraction from wind turbines in areas with low wind speeds. Wind turbine blades play a significant role in utilizing the maximum amount of energy from the wind. The aerodynamic performance of a wind turbine blade depends on the airfoil shape. The shape optimization of an asymmetric S2027 airfoil for a low wind speed region was investigated using the adjoint-based optimization technique. The primary objectives of this study were to maximize the lift coefficient, minimize the drag coefficient, and maximize the lift-to-drag ratio. The optimization is based on the adjoint method for Reynolds number variation in the range of 2 × 105 to 5 × 105 and an angle of attack variation from 0° to 12°. A two-dimensional Reynolds–Averaged Navier–Strokes Computational Fluid Dynamics model was created with all the operating parameters and used for optimization. The aerodynamic performance was validated experimentally. For each optimization function, approximately 16 shapes were obtained. The aerodynamic performance for each optimized shape was determined under different operating conditions. Different airfoil shapes with a specific chord, leading and trailing edges, and span arrangement was obtained. The drag coefficient was reduced by 2%–30%; the lift coefficient was improved by 2%–35%, and the lift-to-drag ratio was improved up to 40%.
Design and manufacture of Bio-mimic robotic fish Shrikant Arale, Chirag Pawar, Arvind Deshmukh, Shruti Dalvi, Pariksheet Pinjari, S. S. Ohol 2016 IEEE 1st International Conference on Control Measurement and Instrumentation Cmi 2016, 2016
Comparative quality and performance analysis of machine taps Journal of the Institution of Engineers India Part PR Production Engineering Division, 2000
RECENT SCHOLAR PUBLICATIONS
Advanced Phase-Lead Augmented PI Control for High-Precision 2-DOF Turret Positioning GV Lakhekar, V Lingade, D Pawar, S Shukla, SS Ohol, A Lohia, ... 2025 IEEE 4th International Conference on Smart Technologies for Power … , 2025 2025
Virtual Reality-Enhanced Control of Industrial Manipulators: A Human-in-the-Loop Approach M Gurram, SS Ohol 2025 International Conference on Artificial intelligence and Emerging … , 2025 2025
Discomfort Index Prediction For A Driver In Vehicle Ergonomics OK Khole, SS Ohol Proceedings of 10th International Conference on Intelligent Technologies … , 2025 2025
Comparative Analysis of Damping Materials for Vibration Control in Military Vehicle-Mounted Electronic Warfare Systems SR Kokate, SS Ohol, KP Wani Proceedings of 10th International Conference on Intelligent Technologies … , 2025 2025
Design and Analysis of Dynamic Object Tracking Turret Mechanism R Kharat, SS Ohol, A Lohia, R Agnihotri Proceedings of 10th International Conference on Intelligent Technologies … , 2025 2025
Optimizing llama 3.2 1b using quantization techniques using bitsandbytes for efficient ai deployment SS Ohol, N Maddel, A Khobragade International Journal of Advanced Research (IJAR) 13 (03), 78-88 , 2025 2025
Design and Kino-dynamic Modeling of SERP: A Modular Snake Robot A Patil, Y Gavit, SS Ohol 2025 9th International Conference on Mechanical Engineering and Robotics … , 2025 2025
Reinforcement learning for quadrupedal locomotion: Current advancements and future perspectives M Gurram, PK Uttam, SS Ohol 2025 9th International Conference on Mechanical Engineering and Robotics … , 2025 2025 Citations: 6
Evaluation of Multimodal Interaction System for Collaborative Robot Control P Prasad, A Deshmukh, V Bakshi, P Jawale, SS Ohol 16th International Conference on Computing, Communication and Networking … , 2025 2025
Design And Analysis of Dynamic Object Tracking Turret Mechanism R Kharat, SS Ohol 10th International Conference on Intelligent Technologies (ICIT-2025) , 2025 2025
Turret mechanism performance confirmation using FEA & Simulation for efficient Dynamic tracking PS Kumavat, SS Ohol Proceedings of 9th International Conference on Intelligent Technologies … , 2024 2024
Parallel Robotic System for Automated fracture reduction and Alignment in Femoral shaft fracture treatment S Agrawal, M Dahe, M Gurram, SS Ohol, PS Aglawe Proceedings of 9th International Conference on Intelligent Technologies … , 2024 2024
Improvisation in Human Robot Interaction for Real Time Operation using Speech For Collaborative Robot PP Jawale, SS Ohol Proceedings of 9th International Conference on Intelligent Technologies … , 2024 2024
Forward Kinematics for the state estimation of Quadruped Robot SS Mahajan, SS Ohol Proceedings of 9th International Conference on Intelligent Technologies … , 2024 2024
Dynamic modeling of 14 Dof Humanoid Dual Arm NP Torane, SS Ohol Proceedings of 9th International Conference on Intelligent Technologies … , 2024 2024
Numerical and Dynamic Analysis of Dual-Arm Robotic Manipulation Using Newton-Euler Formulation NP Torane, SS Ohol International Journal of Engineering Sciences 2024 16 (1), 41-53 , 2024 2024
DeepExtract: Neural Networks Based Image Keypoints Extraction for Indirect SLAM Algorithms M Gurram, PK Uttam, SS Ohol 2024 IEEE International Conference on Artificial Intelligence in Engineering … , 2024 2024 Citations: 1
Speech-Driven Control for Collaborative Robots to Enhance Human Robot Collaboration in Industrial Environment PP Jawale, SS Ohol International Journal of Engineering Sciences 2024 16 (1), 8-14 , 2024 2024
Turret mechanism performance confirmation using fEA & simulation for efficient Dynamic tracking SS Ohol Proceedings of 9th International Conference on Intelligent Technologies … , 2024 2024
Development of hybrid locomotive in-pipe robot A Gargade, S Ohol International Journal of Manufacturing Research 19 (1), 36-61 , 2024 2024 Citations: 1
MOST CITED SCHOLAR PUBLICATIONS
Development of In-Pipe Inspection Robot AA Gargade, SS Ohol IOSR Journal of Mechanical and Civil Engineering 13 (4), 9 , 2016 2016 Citations: 25
Design and Fabrication of a Low-cost Human Body Lower Limb Exoskeleton YM Pirjade, DR Londhe, NM Patwardhan, AU Kotkar, TP Shelke, SS Ohol 2020 6th International Conference on Mechatronics and Robotics Engineering … , 2020 2020 Citations: 23
Simulation of multifinger robotic gripper for dynamic analysis of dexterous grasping SS Ohol, SR Kajale Proceedings of the world congress on engineering and computer science, 908-914 , 2008 2008 Citations: 14
Modelling and simulation of adaptive cruise control and overtake assist system S Anand, SS Ohol Materials Today: Proceedings 72, 1353-1360 , 2023 2023 Citations: 13
Comparative need analysis of industrial robot calibration methodologies SN Chiwande, SS Ohol IOP Conference Series: Materials Science and Engineering 1012 (1), 012009 , 2021 2021 Citations: 10
Design and Development of In-pipe Inspection Robot for Various Pipe Sizes A Gargade, SS Ohol IOP Conference Series: Materials Science and Engineering 1012 (1), 012001 , 2021 2021 Citations: 10
Pneumatic Artificial muscle powered exoskeleton B Darekar, N P., J Unde, SS Ohol International Conference on Advances in Robotics, AIR 2019, IITD, 1 to 7 , 2019 2019 Citations: 10
Development of actively steerable in-pipe inspection robot for various sizes AA Gargade, SS Ohol Proceedings of the Advances in Robotics, 1-5 , 2017 2017 Citations: 9
Modelling and Development of Compressed Air Powered Human Exoskeleton Suit Human Exoskeleton MV Pawar, SS Ohol, A Patil 2018 7th International Conference on Reliability, Infocom Technologies and … , 2018 2018 Citations: 8
Human Assistive Lower Limb Exoskeleton NM Patwardhan, YM Pirjade, AU Kotkar, L D.R., S T.S, SS Ohol Asian Journal of Convergence in Technology 5 (2), I.F- 5.11 , 2019 2019 Citations: 7
Lower body passive exoskeleton using control enabled two way ratchet P Naik, J Unde, B Darekar, SS Ohol 2018 9th International Conference on Computing, Communication and Networking … , 2018 2018 Citations: 7
Design and Development of In-pipe Inspection Robot AA Gargade, SS Ohol American International Journal of Research in Science, Technology … , 2016 2016 Citations: 7
Biomimetic approach for design of multifingered robotic gripper (MRG) and Its analysis for effective dexterous grasping SS Ohol, SR Kajale Proc. 2009 International Conference on Machine Learning and Computing IPCSIT … , 2011 2011 Citations: 7
Reinforcement learning for quadrupedal locomotion: Current advancements and future perspectives M Gurram, PK Uttam, SS Ohol 2025 9th International Conference on Mechanical Engineering and Robotics … , 2025 2025 Citations: 6
In-pipe Inspection Robot for Varying Pipe Sizes A Gargade, SS Ohol Proceedings of 6thInternational conference on Intelligent Technologies (ICIT … , 2021 2021 Citations: 6
Performance analysis of SCORBOT ER 4u robot arm PV Patil, SS Ohol International Journal of Materials Science and Engineering 2, 72-5 , 2014 2014 Citations: 6
Design, development and analysis of human exoskeleton for enhancing human capabilities RV Vibhute, SS Yeole, SD Waghmare, TA Tonde, SS Ohol IOP Conference Series: Materials Science and Engineering 1012 (1), 012015 , 2021 2021 Citations: 4
Inverse kinematic analysis of a fixture for fine alignment of central axis of top and bottom frame using simulation PS Aglawe, SS Ohol IOP Conference Series: Materials Science and Engineering 1012 (1), 012014 , 2021 2021 Citations: 4
Design and manufacture of Bio-mimic robotic fish S Arale, C Pawar, A Deshmukh, S Dalvi, P Pinjari, SS Ohol 2016 IEEE First International Conference on Control, Measurement and … , 2016 2016 Citations: 4
Kinematic and dynamic analysis of a robot arm used for All Terrain Robot AV Sutar, SS Ohol International Journal of Engineering Research & Technology (IJERT) 3 (5 … , 2014 2014 Citations: 4
