S. Donepudi
Papers
3
Total Citations
100
H-Index
3
About
S. Donepudi is a robotics researcher whose work centers on the control of robot manipulators, with a particular focus on adaptive control, force control, and the challenges posed by flexible joints. His most significant contribution is the development of an adaptive position/force controller for robots operating under constrained motion, detailed in his highly cited 1997 paper (87 citations). This work was pioneering because it compensated for parametric uncertainty without requiring velocity measurements, relying instead on a filtering technique that used only link position and end-effector force data—a practical advancement for real-world robotic applications. Donepudi also made notable contributions to the experimental evaluation of control algorithms for rigid-link flexible-joint (RLFJ) robots. His 1998 and 2002 papers (10 and 3 citations, respectively) provide hands-on assessments of link position tracking controllers, using a modified IMI 2-link direct-drive planar robot to simulate torsional spring coupling. By bridging theoretical control design with experimental validation, Donepudi’s work offers valuable insights for researchers and engineers developing more robust, sensor-efficient robotic systems for manufacturing and automation.
Research Focus
Key Achievements
Top Papers
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