Title of CoE : Centre of Excellence on Robotics and Automation

Team Member names : Team of researchers and faculty of IIT Madras

Contact Person : Dr. N.Ramesh Babu

Professor, Mechanical Engineering
Indian Institute of Technology Madras, Chennai- 600036
Mob: Email id: nrbabu@iitm.ac.in
https://mech.iitm.ac.in/meiitm/personnal/n-ramesh-babu/

1. Introduction
a. Mission and Objectives
Prosthetic rehabilitation: To develop improved devices for physically challenged
humans such as motorized wheelchairs, artificial lower and upper limbs.
Small-Scale Mobile Robotics: To design and develop efficient small scale robots for
pick and place application at low cost. To integrate with industries focusing on
manufacturing innovative and high quality products using robotics.
Sensor Based Motion Planning: To develop new sensor based online method for
generating collision-free differential-drive wheeled mobile robots using inverse
kinematics.
Variable Impedance Actuators (VIA): To develop optimized VIA for novel
application, involving unknown and dynamic interaction which cannot be achieved
using classical stiff actuators.

b. Present status

The concept of robotics has been in existence for a long time with first modern-day
Industrial Revolution dates back to 1800s. Robots have evolved tremendously over the
years and are now being widely used in various sectors such as defense, disaster
management, rehabilitation engineering, search and rescue operations. Automation is an
extension of robotics and can be termed as the next phase of industrial revolution. This

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 pioneering work has also led to a number of research groups in India working in this
field. Many tasks performed manually by humans about 20-30 years ago are no longer
relevant. Use of sensors in objects which operate based on inputs like human gesture,
speech or commands is another example. Next challenge is to design the controller for
robot using path planning methods. Many of these classical path planning methods are
not amenable to sensor based interpretation. The latest application of robotics and
automation can be seen in technologies such as autonomous or driverless cars, 3D
printing and chat bots.

With the high intense research work and patents filed in the field of robotics, it is time to
utilize the knowledge gained so far. Its application may be in rehabilitation engineering,
development of sensors and low cost robots. In addition, there is also a need to develop
process automation through artificial intelligence and software robot to reduce human
intervention. The current Centre of Excellence would focus on all these aspects through
collaboration between academia, R&D labs and industry.

c. Need identification for establishing CoE

In machine automation, sensor information reflecting the current state of the environment
is used in robot planning process instead of classical planning. The main challenges are
robot often has no prior knowledge due to limited memory and should adapt itself to
uncertainties and rapidly changing situations. The latest application of robotics and
automation can be seen in technologies such as autonomous or driverless cars, prosthetic
rehabilitation, intelligent systems and mobile bots.

The global scientific community has developed a lot due to modern concepts and
artificial intelligence, which has near-limitless potential. Globally many case studies have
proven profitable, on integrating robotics with manufacturing sectors. Another area of
robotics application is to develop smart actuator with mechanically adjustable compliance
and controllable equilibrium position. The main goal of the proposed CoE is to develop
strategies for minimal wastage of materials and energy with low cycle time concept for
Indian industries. Automation of production line is the core area for renaissance of

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 manufacturing sectors, with growing possibilities to achieve smartness. The increasing
demand for high quality product at affordable cost has steered the globe towards robotics
and automation.

2. Laboratories, institute and industries presently working in the area

a. DRDO/ISRO/DAE/CSIR laboratories, etc.
i. Central Manufacturing Technology Institute (CMTI), Bangalore
ii. Central Mechanical Engineering Research Institute (CMERI)-CSIR, Durgapur
iii. National Aerospace Laboratories (NAL)-CSIR, Bangalore
iv. Advanced Materials and Processes Research Institute (AMPRI)- CSIR, Bhopal
v. Centre for Artificial Intelligence & Robotics (CAIR)-DRDO, Bangalore

b. Academic Institute
i. Indian Institute of Technology Madras
ii. Indian Institute of Technology Bombay
iii. PSG Technology, Coimbatore
iv. International Institute of Information Technology, Hyderabad
v. Indian Institute of Technology Kharagpur
vi. Indian Institute of Packaging
vii. Indian Institute of Technology, Delhi
viii. Indian Institute of Technology, Kanpur
ix. Indian Institute of Engineering Science and Technology, Shibpur
x. Tula's Institute (India’s First Remote Robotics Lab)

c. Industries

Industry Area Location

Systemantics India Private Limited Robotics Bangalore
Grey Orange India Automation Haryana
Gridbots Technologies Robotics Ahmedabad
Sastra Robotics India Pvt Ltd Robotics Kochi
Hi-Tech Robotic Systemz Automation Chennai

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 Mechatronics Control Equipments Automation Chennai
Asimov Robotics Robotics Kochi
Advance-Tech Controls Pvt. Ltd. Automation Chennai
Robolab Technologies Pvt. Ltd. Robotics Pune
Machine Tool Aids Bureau Engineers Robotics Chennai
Pvt. Ltd.
L&T Automation
DiFACTO Robotics and Automation Robotics Bangalore
Pvt Ltd
Uurmi Systems Automation Hyderabad
Precision Automation & Robotics Automation Pune
India Ltd.
Bluetronics Robotics and automation Bangalore
Micromatic Grinding Technologies Automation Bangalore
Ltd.
Rockwell Automation India Robotics Noida

3. Identification of Academic/ research institution/ Industry for creation of I3M & CoE
a. Expertise Available
Following are the experts from different national institutes and industries in the field of
Robotics and Automation,

S.No Experts Research Area Institute/ Industry

Automation,
1 Dr. Rajendra M. Sonar IIT Bombay
Intelligent Systems
2 Dr. R.K.P. Bhatt Adaptive control IIT Delhi
3 Dr. Indra Narayan Kar Robotics IIT Delhi
Multibody Dynamics,
4 Dr. S.K. Saha IIT Delhi
Robotics
Humanoid Robotics,
5 Dr. Ashish Dutta IIT Kanpur
Intelligent systems
6 Dr. Laxmidhar Behera Robotics and control IIT Kanpur
Robotics and
7 Dr. Bhaskar Dasgupta IIT Kanpur
Mechatronics
8 Dr. K. P. Karunakaran Automation IIT Bombay

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 Robotics &
9 Dr. Vivek Sangwan IIT Bombay
Automation
Mobile robotics and
10 Dr. K. Madhava Krishna IIIT, Hyderabad
mechanisms
11 Dr. N. Murugan PSG
Robotics and Chief Scientist,
12 Dr. Sankar Nath Shome
Automation CMERI
Surface and Field
13 Dr. Ravi Kant Jain CMERI
Robotics
Dr. Shunmugham R. Robotics, Control IIITDM,
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Pandian systems Kancheepuram
Robotics and
15 Dr.C.S.Kumar IIT Kharagpur
Intelligent Systems
Mobile Robotics and
16 Dr. Subhasis Bhaumik IIEST
industrial automation
17 Dr. N. Balashanmugam CMTI
18 Mr. B R Mohanraj CMTI
19 Mr. Satish Kumar CMTI
20 Dr. Ramesh Sundaram NAL
21 Dr. Asokan T Robotics IIT Madras
Dr. Sandipan Computational
22 IIT Madras
Bandyopadhyay Kinematics
23 Dr. Prabhu Rajagopal Robotics IIT Madras
Dr. Krishana Robotics
24 IIT Madras
Balasubramaniam
25 Dr. P. Manivannan Robotics IIT Madras
26 Dr. N. Ramesh babu Automation IIT Madras

b. Infrastructure available
Many institutes work in the field of Robotics and Automation throughout India. Research
infrastructure currently available are provided below,
i. SMITA Research Lab, IIT Delhi
ii. Centre for Mechatronics, IIT Kanpur
iii. Centre for Non-destructive Evaluation, IIT Madras

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 iv. SakRobotix Research Centre, IIT Bhubaneswar
v. Lema Labs, IIT Madras
vi. Centre for Automation and Robotics, Hindustan University
vii. FANUC Centre for Advanced CNC and Robotics, PSG
viii. FESTO Centre for Robotics, PSG

4. Suggestions regarding setting new infrastructure or augmenting/ Strengthening the

existing ones in Academia, Laboratories or Industries
a. R & D Facilities
i. Speech signal analysis facility, CAIR
ii. Network simulation facility, CAIR
iii. Advanced dynamic-control of robotic arm, CRIS, BITS Pilani
iv. Steering Robot with GPS, IIT Madras
v. Automated Assembly Station and Industrial Robots, IIT Madras
vi. SCARA and 5 axis Robots with optic ROM camera Stewart platform / hexapod, IIT
Madras
vii. Planys Technologies (Submersible Robots), IIT Madras

b. Computational Facilities
The list of computational software and hardware requirement for setting up a CoE is
given below. It covers the basic requirement from 2D drafting to process simulation and
logical programming software. The hardware requirement is chosen based on the
minimum requirement for proper execution of below software.

Software/Hardware Usage
AutoCAD 2D drafting
Solidworks 3D modeling
Blender Sketching
ANSYS FEA Software
MATLab Programming
RoboLogix Robotics

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 Microsoft Robotics developer studio Robotics
SIMATIC Robotics
Robotic Process Automation Robotics
MasterCAM Simulation of CNC Machine code
SmartPATH Visual Simulation of CNC Machine code
SIMUL8 Manufacturing Process Simulation
FlexSim Manufacturing line simulation
CIMCO MDC-MAX Machine Data Collection
Microsoft Project Project planning
Windows 10 Operating System
Microsoft Office 2016 Documentation
Desktop with 16 GB RAM
Workstation
Antivirus

c. Fabrication/ Synthesis facilities (Lab scale / pilot scale and Industrial scale)
i. CNC laser welding machine
ii. 200T3200 hydrualic cnc press brake and metal sheet cnc bending machine
iii. Automatic Plastic Injection Molding Machine
iv. PLC Controller
v. Microprocessor

d. Test facilities in IIT Madras

Currently, the following test facilities are available in Centre for Non-Destructive
Evaluation (CNDE) located in IIT Madras.
i. Nano-Computed Tomography (CT)
ii. 20 GHz. Agilent Network Analyser with workbench up to 12 GHz.
iii. MPI and LPI facilities with automation.
iv. Magneto-strictive and magneto-resistive sensors.

5. Ecosystem needed

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 a. Manpower requirement
No of People Monthly Salary Total amount
CEO
Coordinators from Institute
Research Lead
Principal Researcher
Senior Research Engineer
Research Engineer
Trainee Engineer
Senior Technician
Technician
Account Officer
Accountant
Intern

b. Business model proposed

The CoE is proposed to have collaborative research work with industries working on the
common area of interest. The final deliverable will be based on the collaborative work
carried out from either side. The funding will be partially supported from partner
industries interested in collaboration and remaining by Government of India. The CoE
also conducts training program and workshops on specialized topics to facilitate
knowledge transfer.

6. Involvement of academia, industry and R & D Institutions

The proposed CoE extensively depends on interaction and involvement of leaders from
mechatronics, intelligent and precision manufacturing, electronics industries along with
academic experts. Research areas have been identified based on felt need, market
opportunities in the coming years and leveraging of multi-disciplinary capabilities. Industry
will be involved from the outset and in due course will undertake jointly product/process
development in specific domain areas in order to leverage the research output. As a result, we
expect tangible benefits to industry and also technology transfer from academia. Further, we

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 expect sustained support from the R & D institution in subsequent years for follow-on new
development in research.

7. Indicative funding requirements and time frame

a. Phase I – Short Term (upto 5 years)

Particulars Amount Percentage of Total

(in Crores) Funds (%)

Infrastructure / Operational 30 20
Overheads
Equipment Capital and others 60 40
Manpower 22.5 15
Travel 7.5 5
Experts, Honorarium 15 10
Consumables 7.5 5
Contingencies 7.5 5
Total 150 100

b. Phase II – Medium Term (5 to 10 years)

The institute and center will strive to become self-sustaining through developing a
concrete business model

8. International Collaboration Needed

The experts in IITM and IITB already have collaboration with different international
universities and research organization. We also consider collaboration with international
industries currently working in the area of robotics and automation is essential to streamline
our motto. Some possible industries include,
a. Dongbu Robot (South Korea)
b. Kuka robotics (Germany)
c. Fanuc India
d. ABB

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9. Expected outcomes
a. Employment generation
The Centre of Excellence on Robotics and Automation generates employment for nearly
30 people at various hierarchy levels mentioned in Section 5(a).

b. Skill development
i. Rehabilitation Engineering
ii. Control algorithms
iii. Design of actuation system

c. Technological Outcomes
i. Development of framework integrating robotics with rehabilitation engineering
ii. Development of facility and strategies for low cost automation.
iii. Development of new techniques under sensor based motion planning to effectively
control robots.

d. New Industries in innovative areas to be setup

Currently, Indian industries import many products from technologically developed
countries. As an initiative of this Centre of Excellence and the technological development
made will lead to setup of industries and skill development centers in the following areas,
i. Low cost automation
ii. Prosthetic rehabilitation
iii. Mobile robots

e. Expected Industrial production in these areas with potential value addition

i. Development of better rehabilitation devices with better performance.
ii. Development of manufacturing process automation through proper feedback and
control algorithms to achieve cost effective production.
iii. Development of automation technologies in bio-engineering field.
iv. Robotics for hazardous application with higher level of risk.
v. Robotic control algorithms using sensor based motion planning.

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 vi. Cooperative manipulators for large construction.

10. Executive Summary

The prime focus of every manufacturer is to produce cost effective product without
compromising on quality. The manufacturing chain should be made more valuable by
improving the process lines and production layout. Automating the routine process also
reduces the time delays due to human intervention. Once, the automation strategies are
developed, the same can also be extended to customized manufacturing process, which are
not routine. The controller for the automating algorithms should also be developed along
with strategies, to have an effective impact on implementing it. This can be achieved at
global standards by collaboration with manufacturing sectors. In addition to research, this
initiative will result in patents for new processes and designs, methodologies for
transforming our manufacturing lines into automated and more effective ones. Globally many
sectors have proved case studies, having high impact on production rate and quality on
implementing automation to manufacturing line processes.

The concept of lower-extremity prosthetics has developed in early 1940’s targeting artificial
limbs, prosthetic knee or angle or foot, which benefits the amputee. In recent years, this field
is taken over by integration with robotics to produce products with advanced functional
requirements. The controller part is driven by sensor based motion planning method. Here,
the instantaneous motion is calculated as the turning radius by integrating with geometric
path tracking method to avoid unexpected obstacles [3]. The sensor based planning method
is also used for generating collision free paths for differential-drive wheeled mobile robots.
The local movement of the robot is controlled by exponential control scheme taking into
account the robot’s kinematic constraints [2]. Mobile robots using wireless communications
often experience small-scale fading so that the wireless channel gain can be low. If the gain
is poor (due to fading), the robot can move to another location to improve the channel gain
and so compensate for fading. Techniques using this principle are called mobility diversity
algorithms [4].

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 Another major area for robotics application is development of variable impedance actuators.
In recent years, VIA has received increasing attention due to many novel applications
involving interactions with an unknown and dynamic environment. It is also a part of robot
design, where actuators with dynamics stiffness are required in preference to classical stiff
actuators [5].

The proposed Centre of Excellence mainly concentrates on the prosthetic rehabilitation,

development of mobile robots, VIA and automating manufacturing process line. In general
robots are used for performing tasks, which are tedious and repetitive in nature. Advanced
robots needed to be built having the capability of mimicking human dexterity, which can be
used in manufacturing sectors. Also usage of robots minimizes the time delay due to human
fatigue and errors.

References:

1. D.H. Kim, C.S. Han, J.Y. Lee, Sensor-based motion planning for path tracking and
obstacle avoidance of robotic vehicles with nonholonomic constraints, Proceedings of the
Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,
227 (1), 2013, 178-191.
2. S. Lee, M.S. Kang, C.S. Han, Sensor based motion planning and estimation of highrise
building façade maintenance robot, International Journal of Precision Engineering and
Manufacturing, 13 (12), 2012, 2127-2134.
3. D.B. Licea, C. McLernon, M. Ghogho, Mobile Robot Path Planners With Memory for
Mobility Diversity Algorithms, IEEE Transactions on Robotics, 33 (2), 2017, 419-431.
4. B. Vanderborght, A.A. Schaeffer, A. Bicchi, et.al, Variable Impedance Actuators: a
Review, IEEE Transactions on Robotics, 61 (12), 2013, 1601-1614.

The main goal of the proposed CoE is to develop strategies for minimal wastage of
materials and energy with low cycle time concept for Indian industries. Automation of
production line is the core area for renaissance of manufacturing sectors, with growing
possibilities to achieve smartness. The increasing demand for high quality product at
affordable cost has steered the globe towards robotics and automation.

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 Sensors are also being used to identify speeding cars or count the number of parking slots
available in large parking spaces.
The latest application of robotics and automation can be seen in technologies such as
autonomous or driverless cars, 3D printing and chat bots.
While automation technologies like driverless cars and chat bots may disrupt our lives in
the future, each one of these could potentially create avenues and opportunities for
individuals and businesses.

and had manufacturing processes for metals, chemicals, textiles and mining; leading to
an increase in productivity and output.

Gear boxes
Transmissions elements
Motors

Robot Controllers
Prostheses
Small-Scale Mobile Robotics
Robotic rehabilitation
Modeling and Control of Dynamic Systems
Sensor Based Motion Planning
Sensor Based Planning incorporates sensor information, reflecting the current state of the
environment, into a robot's planning process, as opposed to classical planning , where full
knowledge of the world's geometry is assumed to be known prior to the planning event. Sensor
based planning is important because: (1) the robot often has no a priori knowledge of the world;
(2) the robot may have only a coarse knowledge of the world because of limited memory; (3) the
world model is bound to contain inaccuracies which can be overcome with sensor based planning
strategies; and (4) the world is subject to unexpected occurrences or rapidly changing situations.

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It is not possible to simply add a step to acquire sensory information, and then construct a plan
from the acquired model using a classical technique, since the robot needs a path planning
strategy in the first place to acquire the world model.

The first principal problem in sensor based motion planning is the find-goal problem. In this
problem, the robot seeks to use its on-board sensors to find a collision free path from its current
configuration to a goal configuration. In the first variation of the find goal problem, which we
term the absolute find-goal problem, the absolute coordinates of the goal configuration are
assumed to be known. A second variation on this problem is described below.

The second principal problem in sensor based motion planning is sensor-based exploration, in
which a robot is not directed to seek a particular goal in an unknown environment, but is instead
directed to explore the apriori unknown environment in such a way as to see all potentially
important features. The exploration problem can be motivated by the following application.
Imagine that a robot is to explore the interior of a collapsed building, which has crumbled due to
an earthquake, in order to search for human survivors. It is clearly impossible to have knowledge
of the building's interior geometry prior to the exploration. Thus, the robot must be able to see,
with its on-board sensors, all points in the building's interior while following its exploration path.
In this way, no potential survivors will be missed by the exploring robot. Algorithms that solve
the find-goal problem are not useful for exploration because the location of the ``goal'' (a human
survivor in our example) is not known. A second variation on the find-goal problem that is
motivated by this scenario and which is an intermediary between the find-goal and exploration
problems is the recognizable find-goal problem. In this case, the absolute coordinates of the goal
are not known, but it is assumed that the robot can recognize the goal if it becomes with in line
of sight. The aim of the recognizable find-goal problem is to explore an unknown environment
so as to find a recognizable goal. If the goal is reached before the entire environment is searched,
then the search procedure is terminated.

Variable Impedance Actuators- The Mechanically Adjustable Compliance and Controllable

Equilibrium Position Smart Actuator

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Development of Cooperating Intelligent Systems

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