Joyjit Mukherjee
Papers
8
Total Citations
111
H-Index
5
About
Joyjit Mukherjee is a robotics control specialist whose work centers on the challenging dynamics of bio-inspired and soft robotic systems. His primary research focuses on the maneuvering control of planar snake robots, where he has pioneered robust control strategies to address the inherent uncertainties and disturbances in these complex, multi-linked systems. Mukherjee’s most influential contribution is his sliding mode control (SMC) framework, detailed in his 2017 paper (49 citations), which achieved simultaneous velocity tracking and head-angle control using virtual holonomic constraints. He further advanced the field by introducing a double-layered artificial delay-based approach (21 citations) and an adaptive-robust framework (13 citations), both designed to manage unknown uncertainty bounds with reduced computational complexity. Beyond snake robots, Mukherjee has innovated in soft robotics, developing a sliding-mode algorithm to regulate internal forces during in-hand manipulation with soft fingers, and an adaptive gravity compensation controller for cable-driven upper-arm exosuits. His work consistently bridges theoretical rigor with practical implementation, making him a notable figure in adaptive and robust control for non-conventional robotic platforms.
Research Focus
Key Achievements
Top Papers
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- 5A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities5 citations · 2021
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- 7Adaptive Robust Control for Planar Snake Robots4 citations · 2021
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