Ekta Singla

Ekta Singla
Indian Institute of Technology Ropar | Indian Institute of Technology Punjab · School of Mechanical, Materials and Energy Engineering

PhD

About

62
Publications
15,696
Reads
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389
Citations
Additional affiliations
December 2010 - present
Indian Institute of Technology Ropar
Position
  • Professor (Assistant)
September 2010 - November 2010
Indian Institute of Technology Kanpur
Position
  • Engineer
June 2009 - July 2010
Sorbonne Université
Position
  • Post Doc Fellow

Publications

Publications (62)
Article
Purpose: Enormous assistance is required during rehabilitation activities, which might result in a variety of complications if performed manually. To solve this issue, several solutions in the form of assistive devices have been presented recently. Another issue highlighted is the lack of kinematic compatibility in low degrees-of-freedom (dof) sys...
Article
Customization of manipulators having unconventional parameters and link shapes have gained attention to accomplish non-repetitive tasks in a given cluttered environment. Adaptive modular and reconfigurable designs are being used to achieve customization, and have provided time and cost-effective solutions. Major challenges are associated to provide...
Conference Paper
The paper targeted to develop a modular library for prototyping planar hybrid linkages using additive manufacturing, with a selective printing conditions, layering directions and clearances. Three modules have been designed to produce active, passive and joint locking functionalities in the revolute joints. The fourth connectivity module helps to a...
Preprint
Full-text available
Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the 3D printable, light-weight and unconventional modules: MOIRs' Mark-2, to develop any custom `n'-Degrees-of-Fre...
Article
Full-text available
A medicine can be administered in varied dosage forms which are having different environmental impacts. Two dosage forms of paracetamol (tablet and syrup) have the same function but are prepared and packaged differently, meaning that the environmental impacts arising out of their production will be of different magnitude. This study utilizes the li...
Preprint
Full-text available
Paper presented at 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, at Ryerson University Toronto, Canada. Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extr...
Article
This paper presents the singularity analysis of a 7-degrees-of-freedom (DOF) hybrid manipulator consisting of a closed-loop within it. From the past studies, it is well-known that the kinematic singularities play a significant role in the design and control of robotic manipulators. Kinematic singularities pose two fold effects — first, they can ind...
Chapter
Misalignment between human and exoskeleton joints is an inevitable challenge that hinders user’s safety, comfort, and assistance efficiency. It also results in undesired interaction forces that are applied to the human body limbs, further affecting the safety of the user. In this context of the design of exoskeletons and the study of misalignment e...
Chapter
Modularity and reconfigurability are efficient and effective solutions to achieve customization in manipulator designs. Customized configurations would be required to accomplish a set of non-repetitive tasks in various fixed environments. These customized manipulator designs are task-based; thus, automatic reconstruction of the task-space is requir...
Chapter
Gupta, SakshiGupta, SameerAgrawal, AnupamSingla, EktaThis paper deals with the human-robot compatibility issue of upper-limb exoskeleton through a dimensional synthesis problem. The work is a contribution to solving misalignment. In this paper, the objective is the task-based dimensional synthesis of a wearable upper-limb exoskeleton for emulating...
Conference Paper
This paper focuses at the planning of a robotic assistive system in a modular vertical farm facility. Smart vertical farms are designed particularly for indoor systems with artificial environment control covering a small area of land but utilizing dimensions through vertical height. A layout of a proposed vertical farm is presented with a 4-Degrees...
Article
Full-text available
For customized design of a hybrid-manipulator for a specific application, selection of an appropriate configuration is always a challenge. To assist in this foremost decision in data-driven synthesis, a novel approach is proposed for modular formation of quick configurations and developing respective kinematic model and differential relations for t...
Article
Modules are requisite for the realization of modular reconfigurable manipulators. The design of modules in literature mainly revolves around geometric aspects and features such as lengths, connectivity and adaptivity. Optimizing and designing the modules based on dynamic performance is considered as a challenge here. The present paper introduces an...
Article
Towards planning a modular library for customized designs of serial manipulators, a trade-off is required between minimum modules inventory and maximum robotic applications to be handled. This paper focusses at the type synthesis of modules which is majorly based upon optimized payload capacity of the modular links. To find minimum types of modules...
Conference Paper
The world is getting primed for Industry 4.0. In this context, we propose a framework for the automatic reconstruction of workspaces where a manipulator is required to function. The manipulator can be customized using modular and reconfigurable approach with respect to the reconstructed workspace and the set of Task-Space-Locations (TSLs) and Base-...
Presentation
In this work, a methodology is proposed to configure any n-dof (degrees-of-freedom) modular configurations from the prescribed DH parameters and modular sequence. Modular library is presented which is able to adapt any given robotic parameters. Modular configuration is configured automatically in the format of URDF (Unified Robot Description Format...
Article
Modular and Reconfigurable manipulators have gained popularity especially in the service sector, where the use of customized configurations has increased. Adaptable modular designs have come into advances in achieving the required configuration of a robotic manipulator. As reported in the literature, various designs of the modules mainly with conve...
Conference Paper
This paper focuses at the dynamic modeling of a modular reconfigurable manipulators. Dynamic model of the manipulator changes with each reconfigured posture and therefore, control implication on this type of robotic arm changes. Adaptability of the dynamic model and controller to incorporate this change is a challenge. Idea of re-configurable robot...
Chapter
Full-text available
This paper first summarizes the research work in the active and passive upper limb exoskeleton robotics that have been majorly testified in the area of assistive and rehabilitation robotics. Recent techniques have been classified with respect to the reported generations defined by scientific communities and design challenges have been retrieved out...
Preprint
A robot needs contextual awareness, effective speech production and complementing non-verbal gestures for successful communication in society. In this paper, we present our end-to-end system that tries to enhance the effectiveness of non-verbal gestures. For achieving this, we identified prominently used gestures in performances by TED speakers and...
Article
Full-text available
Over the last few decades, medical-assisted robots have been considered by many researchers, within the research domain of robotics. In this article, a 5-degrees-of-freedom spatial medical manipulator is analyzed for path planning, based on inverse kinematic solutions. Analytical methods have generally employed for finding the inverse kinematic sol...
Article
Utilization of hybrid topologies for the design of robotic manipulators has been explored by several researchers. The motivation lies in the fact that serially connected links are normally selected for large manipulability and parallel manipulators are utilized for better positional accuracy. Common choices of hybrid topologies include either seria...
Article
Modular manipulators gained popularity for their implicit feature of "reconfigurability"- that is, the ability to serve multiple applications by adopting different configurations. As reported in the literature, most of the robotic arms with modular architecture used specific values of twist angles, e.g., 0 deg or 90 deg. Further, the number of degr...
Article
Over the last few decades, medical assisted robots have been considered by many researchers, within the research domain of robotics. In this paper, a five degrees-of-freedom (DOFs) spatial medical manipulator is analyzed for path planning, based on inverse kinematics solutions. Analytical methods have generally employed for finding the inverse kine...
Article
Full-text available
With the recent progress in personal care robots, interest in wearable exoskeletons has been increasing due to the demand for assistive technologies generally and specifically to meet the concerns in the increasing ageing society. Despite this global trend, research focus has been on load augmentation for soldiers/workers, assisting trauma patients...
Article
The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to mo...
Article
Kinematically redundant manipulators help in handling environmental constraints with extra degrees of freedom, but a large number of links may also lead to significant cumulative errors at the distal end, increasing the likelihood of collisions. The focus of this paper is to synthesize a robot with maximized tolerance to avoid potential collisions,...
Article
Full-text available
Task-based designs—proven to be successful for constrained environments—may face challenges at prototype development phase. To assist in generalized design and development of task-based serial manipulators for cluttered environments, a parameters-based modular approach is proposed. First, a task-based design strategy for serial manipulators is exhi...
Article
Full-text available
Selection of a suitable robotic manipulator, out of the available conventional configurations, is one way to employ a robot. However, with the increasing applications of robotic assistance, the concept of task-oriented customized design for prescribed working locations in a given environment, has got attention of several researchers. One of the cha...
Article
Full-text available
An attempt is presented towards a unified approach to compute kinematic performance of planar manipulators with the links connected in series, in loops and in combinations of both. The motivation of this work lies in the fact that serially connected links are normally selected for large manipulability and parallel manipulators are utilized for bett...
Article
Full-text available
Pharmaceutical companies are increasingly imparting a lot of importance on becoming more sustainable by developing medicines that are having same medicinal value but with reduced environmental impact. Type of packaging of tablets affects the emission generated during packaging of medicines. Selection of an appropriate packaging of medicine also inf...
Chapter
A broad perspective is presented for the utilization of modular robotic arms in various industrial tasks, particularly for cluttered environments. Parameters-based modules are proposed to develop reconfigurable manipulators according to the robotic parameters, resulting out of the design procedure. A brief description of the modules divisions and t...
Chapter
The term sustainability is generating much interest both among organizations and as a research topic. This article focuses on the environmental aspect of sustainability in pharmaceutical industry. The main objective of this paper is to present a framework for evaluation of environmental sustainability of formulated products (dosage forms) in pharma...
Article
Full-text available
A task-oriented design strategy is presented in this paper for service manipulators. The tasks are normally defined in the form of working locations where the end-effector can work while avoiding the obstacles. To acquire feasible solutions in cluttered environments, the robotic parameters (D-H parameters) are allowed to take unconventional values....
Chapter
The term sustainability is generating much interest both among organizations and as a research topic. This article focuses on the environmental aspect of sustainability in pharmaceutical industry. The main objective of this paper is to present a framework for evaluation of environmental sustainability of formulated products (dosage forms) in pharma...
Conference Paper
Full-text available
A strategy for generation of random population of planar hybrid manipulators with specific number of degrees of freedom (dof) is proposed in this paper. For a given number of dof and fixed maximum number of links in use, the possibilities of generating diverse hybrid morphologies is explored. The aim of the work is to randomly generate basic morpho...
Article
Evolutionary robotics (ER) has emerged as a fast growing field in the last two decades and has earned the attention of a number of researchers. Principles of biological evolution are applied in the form of evolutionary techniques for solving the complicated problems in the areas of robotic design and control. The diversity and the intensity of this...
Research
A collection of advances in applications of evolutionary techniques in robot design and control. The article is accepted for publication in Sadhana - a proceedings of National Academy of Sciences, india.
Conference Paper
Full-text available
The rapidly growing range of robotic applications has resulted into the increased adoption of customized manipulators. This paper addresses the need for an optimization strategy that handles both the design and the path-planning of a robot, simultaneously, to fulfil the requirements of given tasks for a robotic application. The strategy will involv...
Conference Paper
Full-text available
An algorithmic platform is proposed in this paper to randomly generate and validate a set of basic morphologies of planar robotic manipulators, with combinations of serially connected links and loops. To design a robot for specified tasks of following a trajectory and possessing a prescribed stiffness, there are possibilities of working with severa...
Conference Paper
Full-text available
To have a sustainable product or service, product and service systems must equally satisfy all the three stakeholders of sustainability: people, planet and profit generated by the companies. However, if often not the case; this interest of the planet as a stakeholder is often ignored by the other stakeholders. Government tax incentives could act as...
Article
Full-text available
Service-oriented approach or a combination of Product-Service System (PSS) is often regarded as more promising to traditional discreet product selling. To have a sustainable product or service, PSS systems must equally satisfy the three stakeholders of sustainability viz. people, planet, and profit generated by the companies. However, this is often...
Conference Paper
Full-text available
A modular fabrication strategy for the development of customized robotic arms is proposed in thispaper. With increasing variety in robotic applications, the concept of task-based customized design is expected to play a big role in deployment of robotic arms for the required jobs. Many manipulator design strategies have been presented. However, ther...
Conference Paper
This paper presents a path planning approach for kinematically redundant manipulators working in cluttered environments. The focus of this paper is on the challenges of spatial manipulators with large number of degrees of freedom (dof's). For obstacle avoidance in three-dimensional workspaces, a penalizing scheme is proposed. Based on variational c...
Conference Paper
In state-of-the-art research directions like nuclear field, space applications and medical surgery, trend goes towards the utilization of lightweight flexible manipulators. In the recent past, flexible manipulators gained more popularity due to their inherent capabilities, e.g. faster system response, low energy consumption, utilization of relative...
Article
This paper proposes a path planner for serial manipulators with a large number of degrees of freedom, working in cluttered workspaces. Based on the variational principles, this approach involves formulating the path planning problem as constrained minimization of a functional representing the total joint movement over the complete path. We use modi...
Conference Paper
Full-text available
This paper proposes a design strategy for task-based customized manipulators in modular form. The motivation of work lies in the fact that with change in tasks or working environment, the configuration of robot in use may need significant changes. New set of robotic parameters can be designed from scratch or from the existing specifications. The wo...
Conference Paper
Full-text available
To serve the expanding variety of workspaces which need robotic assistance, it is beneficial and at times necessary, to design customized manipulators. The design of such task-based special manipulators is majorly concerned with two decisions --- which are the design parameters? And what are the optimality criteria? This paper is focussed at the la...
Chapter
Full-text available
This paper presents the design of a manipulator working in a highly constrained workspace. The difficulties implied by the geometry of the environment lead to resort to evolutionary-aided design techniques. As the solution space is likely to be shaped strangely due to the particular environment, a special attention is paid to support the algorithm...
Article
A systematic procedure for synthesizing kinematically redundant serial manipulators is proposed in this paper. For a given cluttered workcell, the task space locations (TSL’s) for the desired manipulator are prescribed. The synthesis is performed with the objective of reachability of the manipulator at specified TSL’s, while avoiding obstacles. The...
Article
Motion planning for hyper-redundant manipulators in a complicated and cluttered workspace is a challenging problem. Many of the path planning algorithms, based on cell decomposition or potential field, fail due to the high dimensionality and complex nature of the C-space. Probabilistic roadmap methods (PRM) which have been proven to be successful i...
Article
Full-text available
This paper presents an implementation of the silhouette method of robot path planning. It is a roadmap based method which consists of generating the silhouette of the work cell, forming a network of simple semi-free paths by connecting the silhouette curves to each other and selecting the path from the start position to the end position, in the con...
Article
Full-text available
In this paper, the design of a hip joint of an exoskeleton is presented so as to automatically assist the hip joint motion of a physically weak person. A spherical three-degrees-of-freedom parallel mechanism is used for the purpose. The problem is framed as an optimization problem with an objective of determining the proper connection points for th...

Questions

Question (1)
Question
What exactly is evolutionary robotics? From what I understand, ER is related to evolution of strategies - for automatic designing, controlling and/or generating morphologies - and not just using any evolutionary technique for optimizing.

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Projects

Projects (3)
Project
TELEoperated maintenance for tunnel boring MACHines
Project
To induce the positive features of modular design and manufacturing in Robotic mechanisms, important is to bring out Modular architectures for Robotic arms. The challenging aspects of 'how to design the modular configuration fit for a job?', The decisions on number of modules, types of modules and above all combination of modules while designing a modular robot - are all the problems being dealt at our group!
Archived project
This is a UK & India Advanced Manufacturing Research Challenges proposal seeking to investigate engineering driven sustainable supply networks in four industries of national importance, Aerospace, Automotive, Pharmaceutical and Food Processing (IfM and TSB 2012, National Manufacturing Policy, India 2011). This research seeks to extend existing supply network configuration theories by integrating sustainability dimensions to the traditional cost, quality, and timely and dependable delivery analysis. The design of supply networks is traditionally driven by operational drivers of cost, quality, and timely and dependable supply. However, sustainability considerations in network design are now becoming increasingly critical and this project seeks to integrate capabilities in the simulation and modelling of operations (Indian Institute of Technology Ropar and Indian Institute of Management Lucknow) and industrial supply network design (University of Cambridge Institute for Manufacturing) toward the development of a new capability in the engineering driven design of sustainable supply networks. The key research question which the proposal tries to address is "How to design more sustainable supply networks for manufacturing organisations?" The project will seek to develop methodologies that support optimal usage of key resources like energy, materials, water and other inputs, while minimising the generation of waste. Methods will support trade-off analysis between sustainability practices, whilst simultaneously meeting the cost, quality and responsiveness related requirements. The unit of analysis will be specific product categories in both discrete (automotive and aerospace and process (pharmaceuticals, food processing) industries located in the UK and India.