Prakrut Kotecha

Ph.D. Student, IISc

Biography:

From my undergraduate days, the world of robotics has captivated me. It all began as a member of IvLabs, where I delved into this exciting field under the mentorship of Prof. Shital Chiddarwar. My focus is on developing Learning-based Dynamics and Optimal Control algorithms for legged robots—an endeavour that continuously ignites my passion for innovation. Amid this journey, I'm pursuing my Ph.D. in Cyber-Physical Systems at the renowned Indian Institute of Science, Bangalore. Here, under the expert guidance of Prof. Shishir NY, I'm exploring the endless possibilities this field offers

Publication and Patent

Prakrut Kotecha, et al. "Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion." 7th International Conference of The Robotics Society, Advances In Robotics 2025 [Paper]
Prakrut Kotecha, et al. ”A Hierarchical Manipulation Planning Framework Combining Striking, Pushing, and Pick & Place Motion Primitives”. Conference on Automation Science and Engineering (CASE) 2024 (Presented) [Paper]
Prakrut Kotecha, et al. ”Combining RL and MPC for bipedal walking”. Cyber-Physical Systems Symposium (CyPhySS) 2024 (Oral Presentation) [Paper]
Prakrut Kotecha, et al. ”Navigation System for a vehicle and a method for navigation”. CBR Ref. Number: 201921049473 (2018) (Published Patent)

News and Events

Gave a tutorial at "Walmart Centre for Tech Excellence's Reinforcement Learning Workshop 2025" [link]
Participated in "Bangalore Neuromorphic Engineering Workshop 2025" [link]
Did Teaching Assistantship for "Foundation of Robotics" Course

Experience

Non-Prehensile Manipulation

Under Prof. Nagamanikandan G., International Institute of Information Technology, Hyderabad.

Striking an object to a desired pose using Trajectory Optimization
Pushing multiple objects to the respective desired position and orientation.
- Using a single-point end-effector
- Designing a two-finger gripper using linear actuators and having independent motion

Control and Design of Quadruped robot

Under Prof. Sam Zachariah, Indian Institute of Space Science and Technology.

Worked on Hybrid Dynamics based controller to produce dynamic walking gait for Quadruped.
Produced an animation from a Matlab program of quadruped dropping from a certain height.

PixGuide

Under Prof. Shital Chiddarwar, IvLabs, Visvesvaraya National Institute of Technology, Nagpur.

The main motive of this device is to help the two-wheelers navigate without having to use different applications or mounting their mobile phones or other expensive machines on the vehicle.

Projects

Course Projects

Combining RL and MPC for Biped walking

Course: Robot Learning and Control

Model Predictive Control for UGVs in unknown environments using waypoint generation

Course: Foundation of Robotics

Collision Cone Control Barrier Function for obstacle avoidance in UAVs

Course: Formal Control

Visual learning and optimal control for local navigation

Course: AI for Engineers

Research Projects

QHuMuS - Reconfigurable Robots

Designed a novel reconfigurable robotic system that without any rearrangement, transitions into different mobility modes of a serpentine, a wheeled-quadruped and a humanoid
Developed a control framework for serpentine gaits like lateral undulation, linear progression, side winding and rolling, and wheeled quadruped walking gaits

Gait and trajectory optimization for bipeds

Implemented trajectory optimization on a 5 link kneed walker
Generated periodic gaits and non periodic gaits for flat and uneven surface.
Developed an understanding of Non-Linear dynamics and chaos theory to construct a two-link passive walker and simulated on MATLAB

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