Kunal Sanjay Narkhede
University of Delaware, Indian Institute of Technology Kharagpur
Papers
4
Total Citations
38
H-Index
2
About
Kunal Sanjay Narkhede is a robotics researcher specializing in bipedal locomotion, motion planning, and control for dynamic walking robots in complex environments. His most impactful work introduces a **sequential Model Predictive Control (MPC) framework** that enables bipedal robots to reactively navigate highly cluttered spaces with both static and moving obstacles. By leveraging **safe corridors**—directed convex decompositions of free space—his approach provides provably safe, real-time path generation that maintains stability during dynamic walking. This work, published in *IEEE Robotics and Automation Letters* (2022), has garnered **31 citations** and represents a significant step toward deploying legged robots in human-centric environments. Narkhede further extends these ideas in his 2023 paper on **reactive gait composition**, which offers modular planning with formal stability guarantees for periodic locomotion behaviors. Earlier in his career, he explored **bionic reflex control** for prosthetic fingers, addressing grasping force estimation under kinematic constraints. His research bridges theoretical control theory and practical robot autonomy, making him a rising contributor to the fields of legged robotics and safe motion planning.
Research Focus
Key Achievements
Top Papers
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- 4A Sequential MPC Approach to Reactive Planning for Bipedal Robots2 citations · 2022