Publications

Book Chapter (B)

B1. Kim, C., and Krishnan*, G., ‘Synthesis through use of Building Blocks’, in Handbook of Compliant Mechanisms, Wiley, March 2013, ISBN: 978-1-1199-5345-6.


Journals (J) and Conference Proceedings (C) sorted by the Year 

2020


C34. Satheeshbabu, S., & Krishnan, G. (2020). Analysis of Soft Mechanisms Using a Homogenized Strain Induced Model (pp. 179–195). https://doi.org/10.1007/978-3-030-43929-3_17

 


J24. Patiballa, S. K., & Krishnan, G. (2020). On the design of three-dimensional mechanical metamaterials using load flow visualization. Mechanics Based Design of Structures and Machines, 1–26. https://doi.org/10.1080/15397734.2020.1719506


J23. Uppalapati, N. K., & Krishnan, G. (2020). VaLeNS: Design of a Novel Variable Length Nested Soft Arm. IEEE Robotics and Automation Letters, 5(2), 1135–1142. https://doi.org/10.1109/LRA.2020.2967303


2019


C33. Patiballa, S. K., Satheeshbabu, S., & Krishnan, G. (2019). Load-Flow Based Design of Compliant Mechanisms With Embedded Soft Actuators. In Volume 5A: 43rd Mechanisms and Robotics Conference. American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2019-98514


J22. Chowdhary, G., Gazzola, M., Krishnan, G., Soman, C., & Lovell, S. (2019). Soft Robotics as an Enabling Technology for Agroforestry Practice and Research. Sustainability, 11(23), 6751. https://doi.org/10.3390/su11236751


J21. G. Krishnan and S. Patiballa, “Conceptual Insightful Synthesis of Spatial Compliant Mechanisms using the Load Flow Formulation,” J. Mech. Des., p. 1, Aug. 2019.


video link: https://www.youtube.com/watch?v=piavIrHfBfo 

J20. Singh, G., & Krishnan, G. (2020). Designing Fiber-Reinforced Soft Actuators for Planar Curvilinear Shape Matching. Soft Robotics, 7(1), 109–121. https://doi.org/10.1089/soro.2018.0169


J19. S. Satheeshbabu and G. Krishnan, “Modeling the Bending Behavior of Fiber Reinforced Pneumatic Actuators Using a Pseudo Rigid Body Model,” J. Mech. Robot., p. 1, Feb. 2019.


C32. S. Satheeshbabu, N. Thompson, C. Xiao, and G. Krishnan, ” Architectures of Soft Pneumatic Actuators Inspired by Muscle Fiber Arrangements”, accepted for publication and presentation at the 2019 IEEE Conference on Soft Robotics, April 14-18, Seoul, Korea.


C33. N. Thompson, A. Sinha, G. Krishnan, “Characterizing Architectures of Soft Pneumatic Actuators for a Cable-Driven Shoulder Exoskeleton“, accepted for publication at the 2019 IEEE Conference of Robotics and Automation (ICRA), Montreal, CA, May 20-24


video link: https://www.youtube.com/watch?v=vuocI4b5_8U&t=20s

C34. G. Singh, S. Patiballa, X. Zhang, G. Krishnan, “A Pipe-Climbing Soft Robot“, accepted for publication at the 2019 IEEE Conference of Robotics and Automation (ICRA), Montreal, CA, May 20-24



video link: https://www.youtube.com/watch?v=YDWTfJYOf_c&t=3s

C35. S. Satheeshbabu, N. Uppalapati, G. Chowdhary, and G. Krishnan, “Open Loop Position Control of Soft Continuum Arm Using Deep Reinforcement Learning“, accepted for publication at the 2019 IEEE Conference of Robotics and Automation (ICRA), Montreal, CA, May 20-24


2018


video: https://www.youtube.com/watch?v=a3kgjolyPPQ

J18. N. K. Uppalapati and G. Krishnan, “Towards Pneumatic Spiral Grippers: Modeling and Design Considerations,” Soft Robot., vol. 00, no. 00, p. soro.2017.0144, Jul. 2018. Doi: 10.1089/soro.2017.0144



aux_animation

J17.S. K. Patiballa and G. Krishnan, “Qualitative Analysis and Conceptual Design of Planar Metamaterials With Negative Poisson’s Ratio,” J. Mech. Robot., vol. 10, no. 2, p. 021006, Feb. 2018.


 

video: https://www.youtube.com/watch?

J16. G. Singh, C. Xiao, E. T. Hsiao-Wecksler, and G. Krishnan, “Design and analysis of coiled fiber reinforced soft pneumatic actuator,” Bioinspir. Biomim., Feb. 2018.


ICRA2018_NT_FREE sleev

e demo

C31. N. Thompson, X. Zhang, F. Ayala, E. T. Hsiao-Wecksler, and G. Krishnan, “Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 1533–1538


C30. N. K. Uppalapati, G. Singh, and G. Krishnan, “Parameter estimation and modeling of a pneumatic continuum manipulator with asymmetric building blocks,” in 2018 IEEE International Conference on Soft Robotics (RoboSoft), 2018, pp. 528–533.


C29. S. Patiballa, K. Uchikata, R. K. Ranganath, and G. Krishnan, “A Conceptual Design Tool for Synthesis of Spatial Compliant and Shape Morphing Mechanisms,” in Volume 5B: 42nd Mechanisms and Robotics Conference, 2018, p. V05BT07A009.


C28. Patiballa, S., & Krishnan, G. (2018). Conceptual Design of Spatial Auxetic Microstructures.IUTAM conference on architectured material mechanics. (Abstract only)


2017


 

J15. G. Singh and G. Krishnan, “A constrained maximization formulation to analyze deformation of fiber reinforced elastomeric actuators,” Smart Mater. Struct., vol. 26, no. 6, p. 065024, Jun. 2017.


 


J14. X. Zhang and G. Krishnan, “A nested pneumatic muscle arrangement for amplified stroke and force behavior,” J. Intell. Mater. Syst. Struct., p. 1045389X1773092, Sep. 2017.


 

J13. S. K. Patiballa and G. Krishnan, “Estimating Optimized Stress Bounds in Early Stage Design of Compliant Mechanisms,” J. Mech. Des., vol. 139, no. 6, p. 062302, Apr. 2017.


C27. S. Satheeshbabu and G. Krishnan, “Designing systems of fiber reinforced pneumatic actuators using a pseudo-rigid body model,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 1201–1206.


 

C26. S. Patiballa and G. Krishnan, “Qualitative Analysis and Design of Mechanical Metamaterials,” in Volume 5A: 41st Mechanisms and Robotics Conference, 2017, p. V05AT08A002.

This paper was awarded the Freudenstien Young Investigator award at the IDETC 2017, and covered by the college of engineering news.


2016


 

 

J12.  S. Satheeshbabu and G. Krishnan, “Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization,” J. Mech. Robot., vol. 8, no. 6, p. 061012, Sep. 2016.


J11. C. Xiao, Y. L. Oo, D. Farooq, G. Singh, G. Krishnan, and E. T. Hsiao-Wecksler, “Pneumatic Sleeve Orthosis for Lofstrand Crutches: Application of Soft Pneumatic FREE Actuator 1,” J. Med. Device., vol. 10, no. 2, p. 020959, May 2016.


C25. S. Satheeshbabu and G. Krishnan, “Automated Mobility Analysis of Wire Flexure Systems,” in Volume 5A: 40th Mechanisms and Robotics Conference, 2016, p. V05AT07A018.


C24. S. Satheeshbabu and G. Krishnan, “Towards a Constraint-Based Design of Soft Mechanisms,” in Volume 5A: 40th Mechanisms and Robotics Conference, 2016, p. V05AT07A019.


 

C23. S. Patiballa, J. F. Shanley, and G. Krishnan, “Estimating Stress Bounds in Early-Stage Design of Distributed Compliant Mechanisms,” in Volume 5A: 40th Mechanisms and Robotics Conference, 2016, p. V05AT07A017.


 

C22. G. Singh, C. Xiao, G. Krishnan, and E. Hsiao-Wecksler, “Design and Analysis of Soft Pneumatic Sleeve for Arm Orthosis,” in ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2016, p. V05AT07A034-V05AT07A034.


 

C21. X. Zhang, G. Singh, and G. Krishnan, “A soft wearable sleeve for joint stiffness modulation,” in Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on, 2016, pp. 264–269.


 

C20. R. M. Reck and G. Krishnan, “Combining projects and informational sessions to create a comprehensive introduction to the department,” in Frontiers in Education Conference (FIE), 2016 IEEE, 2016, pp. 1–5.


2015


J10. G. Krishnan, J. Bishop-Moser, C. Kim, and S. Kota, “Kinematics of a Generalized Class of Pneumatic Artificial Muscles,” J. Mech. Robot., vol. 7, no. 4, p. 041014, Nov. 2015.


J9. J. B. Hopkins, J. Rivera, C. Kim, and G. Krishnan, “Synthesis and Analysis of Soft Parallel Robots Comprised of Active Constraints,” J. Mech. Robot., vol. 7, no. 1, p. 011002, Feb. 2015.


C19. G. Singh and G. Krishnan, “An Isoperimetric Formulation to predict Deformation Behavior of Pneumatic Fiber Reinforced Elastomeric Actuators,” in IEEE International Conference on Intelligent Robots and Systems, 2015, pp. 1738–1743.


 

2014


C18. G. Krishnan, “Kinematics of a new class of smart actuators for soft robots based on generalized pneumatic artificial muscles,” in IEEE International Conference on Intelligent Robots and Systems, 2014, pp. 587–592.


 

C17. Allison, J., Krishnan, G., & Thurston, D. Design of Engineering Systems in Industrial and Enterprise Systems Engineering Department at University of Illinois, inproceedings of the CESUN conference, Stevens Institute of Technology, NJ, June, 2014


please visit: http://systemdesign.illinois.edu

C16. Herber, D. R., McDonald, J. W., Alvarez-Salazar, O. S., Krishnan, G., & Allison, J. T. (2014). Reducing Spacecraft Jitter During Satellite Reorientation Maneuvers via Solar Array Dynamics. In Proceedings of the AIAA/ISSMO 2014 Multidisciplinary Analysis and Optimization Conference, to appear, Altanta, GA, USA, June2014.


2013 and earlier (research from University of Michigan Ann Arbor, and Indian Institute of Science, Bangalore)

J8. Krishnan*, G.,  Kim, C., Kota, S.,  ‘A Metric to Evaluate and Synthesize Distrusted Compliant Mechanisms’, ASME journal of Mechanical Design, 135, 011004, 2013

J7. Krishnan*, G.,  Kim, C., Kota, S., ‘A Kinetostatic Formulation for Load Flow Visualization in Compliant Mechanisms ’, ASME journal of Mechanisms and Robotics, 5(2), 021007 (Apr 12, 2013) (9 pages).

J6. Krishnan*, G.,  Kim, C., Kota, S.,: ‘Building block method: a bottom-up modular synthesis methodology for distributed compliant mechanisms’, Mechanical Sciences, 3, pp. 15-23, doi:10.5194/ms-3-15-2012, 2012.

J5. Krishnan*, G.,  Kim, C., Kota, S.. ‘An Intrinsic Geometric framework for the synthesis of single-point mechanisms’, ASME journal of Mechanisms and Robotics, 3, 011001 (2011).

J4. Cappelleri, G. Krishnan*, C. Kim, S. Kota, V. Kumar,‘Towards a design of a decoupled 2-D vision based uN force sensor for microrobotics’, ASME journal of Mechanisms and Robotics, 2, 021010 (2010) (9 pages).

J3. B. Bhaskar, G. Krishnan*, N. Shamsudhin, and G.K. Ananthasuresh, ‘Design, Fabrication, and Tetsing of a Meso-scale Accelerometer Made of Spring Steel’, Journal of the Instrumentation Society of India, Vol. 39, No. 1, March 2009, pp. 46-52.

J2. Krishnan* and G.K. Ananthasuresh. ‘An Objective Evaluation of Displacement-Amplifying Compliant Mechanisms for sensor applications’, ASME Journal of Mechanical Design, October 2008 , Volume 130, Issue 10, 102304 (9 pages).

J1. Krishnan*, C. U. Kshirsagar, N. Bhat and G. K. Ananthasuresh. ‘Micromachined High-resolution Accelerometers’, Journal of the Indian Institute of Science Vol.: 87, No.: 3, September 2007 [Page 333].

Conference Publications (C)

C15. Krishnan*, R. Rank, J. Rokosz, P. Carvey, S. Kota, ‘A Strength Based Approach for the Synthesis of a Compliant Nonlinear Spring for an Orthotic Knee Brace’, to appear in 2013 ASME-IDETC conference proceedings.

C14. Bishop-Moser, G. Krishnan*, S. Kota, ‘Force and Hydraulic Displacement Amplification of Fiber Reinforced Soft Actuators’, to appear in 2013 ASME-IDETC conference proceedings.

C13. Bishop-Moser, G. Krishnan*, C. Kim, S. Kota, ‘Design of Soft Robotic Actuators using Fluid-filled Fiber Reinforced Elastomeric Enclosures in Parallel Combination’, in-proceedings of the IEEE International Conference for Intelligent Robot and Systems (IROS), Vilamoura, Algarve (Portugal), October 7-12, 2012.

C12. Bishop-Moser, G. Krishnan*, C. Kim, S. Kota, ‘Kinematic Synthesis of Fiber Reinforced Soft Actuators in Parallel Combination’, presented at the 2012 ASME-IDETC/CIE, Chicago, IL, August 15-17, 2012.

C11. Krishnan*, J. Bishop-Moser, C. Kim, S. Kota. ‘Evaluating the Mobility Behavior of Fluid Filled Fiber Reinforced Elastomeric Enclosures’, presented at the 2012 ASME-IDETC/CIE, Chicago, IL, August 15-17, 2012.

C10. Krishnan*, C. Kim, S. Kota. ‘A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms’, presented at the 2011 ASME-IDETC/CIE, Washington, DC, August 28-30, 2011.

C9. Krishnan*, C. Kim, S. Kota. ‘Load-Transmitter Constraint Sets Part I: An Effective tool to visualize load flow in Compliant Mechanisms and Structures’, presented at the 2010 ASME-IDETC/CIE, Montreal, QC, August 15-18 2010. (Best Paper Award)

C8. Krishnan*, C. Kim, S. Kota. ‘Load-Transmitter Constraint Sets Part II: A Building Block Based Methodology for Conceptual Synthesis of Compliant Mechanisms’, presented at the 2010 ASME-IDETC/CIE, Montreal, QC, August 15-18 2010.

C7. Krishnan*, C. Kim, S. Kota. ‘Synthesis of single port compliant mechanisms using serial concatenation of building blocks’, presented at the ASME-IDETC/CIE, San Diego, CA, September 1-3 2009.

C6.Cappelleri, G. Krishnan*, C. Kim, S. Kota, V. Kumar,‘Towards a design of a decoupled 2-D vision based uN force sensor for microrobotics’, presented at the ASME-IDETC/CIE, San Diego, CA, September 1-3 2009.

C5. Krishnan*, C. Kim, S. Kota. ‘Building block Methods to Synthesize Biologically Inspired Mechanisms’, poster presented at the NSF CMMI 2009 grantees conference held in Hawaii, June 21-24.

C4. Krishnan*, C. Kim, S. Kota. ‘A Lumped model based concatenation of building blocks for Conceptual Compliant Mechanism design’ presented at the ASME-IDETC-CIE, Brooklyn, NY, August 2008.

C3. Krishnan* and G. K. Ananthasuresh. ‘An Objective Evaluation of Displacement-Amplifying Compliant Mechanisms for sensor applications’ presented at the ASME-IDETC-CIE, Philadelphia PA, September 2006.

C2. Krishnan*. ‘A displacement Amplification Compliant Mechanism as a Mechanical Force Sensor’ presented at the ASME-IDETC-CIE, Philadelphia, PA, September 2006. (this entry won the 2nd prize)

C1. G. Bharadwaj, G. Krishnan*, K Badari Narayana, ‘Experimental Evaluation of Actuation of a Piezo-Actuated Micro leg’, ISSS conference on smart materials and structures, held at Bangalore, July 2005. (Best paper Award)

Thesis and Reports