Arun Dayal Udai

About

Arun Dayal Udai is a leading researcher in industrial and humanoid robotics, with a primary focus on robot kinematics, force control, and sensorless compliance. His seminal work, "Identification of Denavit-Hartenberg Parameters of an Industrial Robot" (2013, 64 citations), provides a foundational method for improving serial robot accuracy through kinematic calibration, a critical need in precision manufacturing. Udai has made significant contributions to active and passive force control, notably developing sensorless full-body compliance strategies for parallel manipulators (2019, 31 citations) and advancing parallel active/passive force control for industrial robots with joint compliance (2014, 21 citations). His research extends to assembly automation, where he introduced depth-based localization for peg-in-tube assembly (2015, 12 citations), and to humanoid robotics, including optimum hip trajectory generation for biped walking (2008) and vision-based grasping with the NAO humanoid (2017, 10 citations). More recently, Udai has explored vision-based identification and force control (2022, 6 citations) and developed a novel comprehensive learning Rao algorithm for engineering optimization (2022, 5 citations). With over 160 citations across his work, Udai’s research bridges theoretical modeling and practical robotic applications, making him a key figure in advancing safe, accurate, and autonomous robotic systems for industrial and service environments.

Research Focus

Key Achievements

Top Papers

1. 1
   Identification of Denavit-Hartenberg Parameters of an Industrial Robot

   64 citations · 2013
2. 2
   Sensorless full body active compliance in a 6 DOF parallel manipulator

   31 citations · 2019
3. 3
   Parallel active/passive force control of industrial robots with joint compliance

   21 citations · 2014
4. 4
   Dynamic Simulation of a KUKA KR5 Industrial Robot using MATLAB SimMechanics

   14 citations · 2011
5. 5
   Depth-based localization for robotic peg-in-tube assembly

   12 citations · 2015
6. 6
   Optimum Hip Trajectory Generation of a Biped Robot during Single Support Phase Using Genetic Algorithm

   11 citations · 2008
7. 7
   Identification and control of NAO humanoid robot to grasp an object using monocular vision

   10 citations · 2017
8. 8
   Vision Based Identification and Force Control of Industrial Robots

   6 citations · 2022
9. 9
   A novel comprehensive learning Rao algorithm for engineering optimization problems

   5 citations · 2022
10. 10
    Simulation of force control algorithms for serial robots

    5 citations · 2012

Key Collaborators

Contact & Links