S. Soumya

Defence Institute of Advanced Technology, National Institute of Technology Karnataka

Papers

Total Citations

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About

S. Soumya is a robotics researcher whose work bridges humanoid locomotion, autonomous navigation, and distributed control systems. Her primary research areas include humanoid robot balance and walking control, mobile robot path planning, and multi-agent cooperative control of robotic manipulators. In her most impactful work, she developed a disturbance estimation-based robust control strategy for humanoid center-of-mass tracking, enabling stable walking despite external perturbations—a critical challenge in bipedal robotics. Her 2024 paper on this topic has already garnered 6 citations, reflecting its timely relevance. Soumya also advanced practical path planning by integrating obstacle slope considerations into the A* algorithm, allowing mobile robots to navigate 2D environments with elevation changes, a contribution that has similarly earned 6 citations. Earlier, she pioneered a model-based distributed cooperative control scheme for robotic manipulators, where each joint-link pair operates with its own controller that communicates and cooperates with others, reducing computational load. This work, cited 3 times, laid groundwork for her subsequent multi-agent system-inspired distributed control of serial-link robots. Soumya’s research consistently addresses real-world robotic challenges—stability, navigation, and computational efficiency—making her contributions valuable for both theoretical advancement and practical deployment.