Papers
10
Total Citations
59
H-Index
4
About
Umesh Kumar Sahu is a robotics and control systems researcher whose work spans flexible-link manipulators, vision-based control, and robotic surgery. His research has made meaningful contributions to one of robotics' most demanding challenges: achieving precise tip-position control in flexible-link manipulators (FLMs), which are increasingly deployed in space and planetary exploration due to their lightweight advantages. His 2019 paper introducing sampled-data extended state observer-based backstepping control — his most cited work with 18 citations — addressed the nonlinear, non-minimum phase dynamics inherent to FLMs, while subsequent studies explored sliding mode observers and network-based control strategies for multi-DOF systems. Sahu has also advanced vision-based robotic control, developing adaptive intelligent and image-moment-driven visual servoing frameworks that enable robots to respond dynamically to real-world environments, including autonomous object tracking and intuitive gesture-driven teach pendant interfaces. His 2023 review on sensors and components in robotic surgery, garnering 9 citations, reflects his broader interest in medical robotics and intelligent actuation. With over 50 cumulative citations across a focused body of work, Sahu represents an emerging voice in precision robotics, bridging theoretical control design with practical, application-driven implementation.
Research Focus
Key Achievements
Top Papers
- 1
- 2Adaptive intelligent vision-based control of a flexible-link manipulator9 citations · 2023
- 3
- 4Shape features for image-based servo-control using image moments8 citations · 2015
- 5Network based control of 2-DOF serial flexible link manipulator4 citations · 2017
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- 9Vision-Based Tip Position Control of a Single-Link Robot Manipulator2 citations · 2019
- 10