Research

I have research interests in fields of Bio-inspired Robotics, Soft Robotics, Robot locomotion, Inertial Sensing, Sensor Fusion, Machine Learning, Nonlinear Control, Artificial Intelligence, Analytical Dynamics, Optimal Estimation and Computer Vision. I have special interest in studying energy-efficient systems, modeling them and analyzing their non-linear behavior. Currently, I am working on model-free control framework for modular, soft material robots capable of locomotion in unstructured environments.

 I have performed research in the fields of Soft Robotics, Intelligent Sensing with Inertial Sensors and Tensegrity Mechanisms.

Publications

Soft Robotics

  1. V. Vikas, T. Umedachi and B. Trimmer, “Softworms: A New Development Platform for Design and Control of Deformable Robots”, Bioinspiration and Biomimetics, Jan 2016 [DOI:10.1088/1748-3190/11/2/025001]
  2. V. Vikas, E. Cohen, R. Grassi, C. Sozer and B. Trimmer, "Design and locomotion control of soft robot using friction manipulation and motor-tendon actuation", IEEE Transactions on Robotics [DOI:10.1109/TRO.2016.2588888]
  3. N. Kastor, M. Hill, V. Vikas, R. White and B. Trimmer, "Semi-Autonomous Soft Robotic Platform for Terrestrial Locomotion'', New Frontiers and Applications for Soft Robotics, IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2015. [POSTER]
  4. V. Vikas, P. Grover and B. Trimmer, “Model-free control of multi-limb soft robots”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2015.[DOI:10.1109/IROS.2015.7353509], [pre-print]
  5. V. Vikas, P. Templeton and B. Trimmer. "Design and control of a soft, shape-changing, crawling robot". [arXiv]
  6. E. Cohen, V. Vikas, B. Trimmer and S. McCarthy “Design methodologies for soft material robots through additive manufacturing, from prototyping to locomotion”, ASME International Design Engineering Technical Conference, Aug 2015. [DOI:10.1115/DETC2015-47507]
  7. V. Vikas, P. Grover and B. Trimmer, "Model-free control framework for multi-limb soft material robots", 7th International Symposium on Adaptive Motion of Animals and Machines, June, 2015.[POSTER]
  8. T. Umedachi, V.Vikas and B. Trimmer, "Highly Deformable 3-D Printed Soft Robot Generating Inching and Crawling Locomotions with Variable Friction Legs'', IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013. [DOI:10.1109/IROS.2013.6697016]
 Inertial Sensing
  1. V. Vikas and C. D. Crane III, "Joint angle measurement using strategically placed accelerometers and gyroscope", Journal of Mechanisms and Robotics, July 2015. [DOI:10.1115/1.4031299]
  2. V. Vikas and C. D. Crane III, "Dynamic Inclination measurement using multiple accelerometers and gyroscope", Bioinspiration and Biomimetics, April 2015. [DOI:10.1088/1748-3190/10/3/036003]
  3. V. Vikas and C. D. Crane III, "Gyroscope-free link parameter measurement using accelerometers and magnetometer", ASME International Design Engineering Technical Conference, Aug 2014. [DOI:10.1115/DETC2014-35360]
  4. V. Vikas and C. D. Crane III, "Measurement of robot link joint parameters using multiple accelerometers and gyroscopes", ASME International Design Engineering Technical Conference, Aug 2013. [DOI:10.1115/DETC2013- 12741]
  5. V. Vikas and C. D. Crane III, "Dynamic Inclination Measurement for five degrees-of-freedom robots", The 2nd IASTED International Conference on Robotics, Nov 2011. [DOI:10.1115/DETC2011-48221]
  6. V. Vikas and C. D. Crane III, "Inclination Parameter Estimation for Manipulator and Humanoid Robot Links", ASME International Design Engineering Technical Conference, Aug 2011. [DOI:10.2316/P.2011.752-021]
  7. V. Vikas, S. Ridgeway and C. D. Crane III, "Interpretation of Time-Varying Actions for Behavior Learning in Autonomous Vehicles", Florida Conference on Recent Advances in Robotics, May 2011. 
  8. V. Vikas and C. D. Crane III, "Inclination Estimation and Balance of Robot using Vestibular Dynamic Inclinometer", IEEE-RAS International Conference on Humanoid Robots, pp. 245-250, Dec 2010. [DOI:10.1109/ICHR.2010.5686299]
  9. V. Vikas and C. D. Crane III, "Robot Inclination Estimation using Vestibular Dynamic Inclinometer", IASTED International Conference Robotics and Applications, Vol. 706, Nov 2010. [DOI:10.13140/RG.2.1.5062.3524]
  10. V. Vikas, J. Godowski and C. D. Crane III, "Balancing Static Robots using Vestibular Dynamic Inclinometer", Florida Conference on Recent Advances in Robotics, May 2010. [DOI:10.13140/RG.2.1.2810.0006]

Tensegrity Mechanisms

  1. V. Vikas, "Kinematic analysis of a planar tensegrity mechanism with pre-stressed springs", MS Thesis, University of Florida 2008. [pdf]
  2. C. D. Crane III, J. Bayat, V. Vikas and R. Roberts, "Kinematic analysis of a planar tensegrity mechanism with pre-stressed springs" in Advances in Robot Kinematics : Analysis and Design, Springer Verlag 2008. [DOI:10.1007/978-1-4020-8600-7_44]