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Pathak Pushparaj Mani
Pathak Pushparaj Mani Associate Professor pushpfme[at] 91-1332-285608
Areas of Interest
  • Robotics, Dynamics , Control, Bond Graph Modelling, Design
Professional Background
23-10-12cont.Associate ProfessorIndian Institute of Technology Roorkee
23-02-0622-10-12Assistant ProfessorIndian Institute of Technology Roorkee
07-01-0422-02-06ReaderIndira Gandhi Government Engineering College, Sagar
01-11-0206-01-04Senior LecturerIndira Gandhi Government Engineering College, Sagar
07-01-9931-10-02Senior LecturerGovernment Engineering College, Raipur
07-01-9406-01-99LecturerGovernment Engineering College, Raipur
11-06-9006-01-94Junior Telecom OfficerWestern Telecom Region, Mumbai
16-10-8910-06-90Junior Telecom Officer (Trainee)Regional Telecom Training Center, Hyderabad
02-1989 06-1989Design Engineer (Trainee)Gajra Gears Limited, Dewas (M.P.)
Honors and Awards
Member Technical Committee for Multi-body DynamicsInternational Federation for the Promotion of Mechanism and Machine Science (IFToMM)2011
Best Paper Award 4th International Conference on Integrated Modeling and Analysis in Applied Control and Automation2010
Educational Details
Ph.D.Robotics, Dynamics, ControlIndian Institute of Technology, Kharagpur2005
M.TechSolid Mechanics and DesignIndian Institute of Technology, Kanpur1998
B.Tech.Mechanical EngineeringNational Institute of Technology, Calicut1988
Administrative Background
20062013Staff Adviser, Model and RoboticsHobbies Club
2006ContOfficer-In-Charge, Robotics and Control LabMechanical & Industrial Engineering Department
20102012Officer-In-Charge, Maintenance (East Block)Mechanical & Industrial Engineering Department
20142016Member, Department Administrative CommitteeMechanical & Industrial Engineering Department
20142016Member, Department Purchase CommitteeMechanical & Industrial Engineering Department
20142016Member, Department Research CommitteeMechanical & Industrial Engineering Department
20142016Coordinator, Machine Design LaboratoriesMechanical & Industrial Engineering Department
20152016Vice-Chairman GATE 2016IIT Roorkee
20162017Organizing Vice-Chairman GATE 2017IIT Roorkee
Sponsored Research Projects
TopicFunding AgencyYear
Design & Fabrication of a Planar Cooperative Space RobotSRIC, IIT Roorkee2007
Root cause analysis of problems caused by excessive vibration of separator fan and related imbalanceACC,Gaggal (HP)2008
Dynamics and Control of RobotsCEC Course2008
Recommendation to lower the vibrations caused by erosive wear in separator fan ACC,Gaggal (HP)2008
Walking Robot With Flexible LegsSRIC, IIT Roorkee2008
Modelling, Simulation and Control of Space RobotsIndian Space Research Organisation (ISRO)2009
BOPET Film Manufacturing Equipment Design Study, Gap Analysis and New Design for Enhance CapacitySRF limited, Kashipur2009
Design and Development of Miniature Robot for Biopsy and In Vivo SurgeryDepartment of Science and Technology, (DST), Government of India2009
Failure investigation of cranes accidents at Jamrudpur site of DMRC Crime branch, ISC, Delhi 2010
Fault Tolerant Control and Reconfiguration of Walking Robots with Flexible LegsDepartment of Sc. and Tech., (DST), Govt. of India and Ministry of Sc. and Tech., South Korea2011
Design of Different Components Of 5.0 Ton Electric Overhead Traveling (EOT) CraneB.K. TRADERS, BARAUNI (For Indian Oil Corporation)2013
Inspection of injection moulding machine to determine its classificationTexplas, Haridwar2013
Development of control system for mobile robot with manipulator for transporting hazardous materialsDST, Gov of India and Ministerio De Ciencia, Teconología E Innovación Productiva, Govt of Argentina2015
Modelling and Feasibility Studies towards development of wire actuated manipulator arm for ROV-DAKSHDefence Research and Development Organisation (DRDO), Research and Development Establishments (Engr)2015
Modelling and control of mobile cooperating bionic armsDST India and CNRS FRance2016
  • Robotics Society of India, Member
  • Association for Machines and Mechanisms, Life member
Teaching Engagements
TitleCourse CodeClass NameSemester
Robotics and ControlMI 502M Tech.(including Pre Phd Course)Spring
Modelling and SimulationMI-511BM. TechAutumn
Advanced RoboticsMI 568M TechSpring
Machine DrawingMI 204B TechSpring
PHDs Supervised
TopicScholar NameStatus of PHDRegistration Year
Modelling and Control of Flexible Space RobotsAmit KumarA2006
Modelling and Control of Quadruped Robot with Flexible LegsV L KrishnanA2008
Dynamics and Control of Dual-Arm Space RobotsHaresh Kumar Punalal PatoliaA2008
Studies on Electro-Magnetically Stir Cast Al-Si AlloysPrabhkiran KaurA2008
Design Development and Control of Miniature Robot for In-Vivo BiopsyMihir Kumar SutarA2010
Remaining Life Prediction of Machine Element by Using Reverse Engineering ApproachAtul KumarA2010
Dynamic Modeling and Control of Quadruped Robot with Compliant LegsGor Mehulkumar MahendrabhaiA2012
Wireless Hybrid Visual Servoing Algorithms For Mobile RobotsGossaye Mekonnen AlemuA2012
Strategies for Control of Multiple and Hyper Redundant Space RobotsVijay DallaA2012
Dynamics and Control of Rail VehicleVivek KumarO2011
Design and control of an hyper-redundant snake robotVitalram RayankulaO2015
Design and Development of Glass Cleaning RobotRavindra Singh BishtO2015
Modelling and Control of Soft RobotsMulu GirmayO2015
Visits to outside institutions
Institute VisitedPurpose of VisitDate
Marina Del Rey, Los Angeles, California, U.S.A., To participate in 15th IASTED International Conference on Modelling and Simulation 1/3/2004
École Polytechnique Universitaire de Lille (Polytech’Lille), FranceCollaborative researchMay 2008
École Polytechnique Universitaire de Lille (Polytech’Lille), FranceCollaborative researchMay 2009
Fez, MoroccoTo participate in the 4th International Conference On Integrated Modeling And Analysis In Applied Control And Automation (IMAACA 2010), 13/10/2010
École Polytechnique Universitaire de Lille (Polytech’Lille), FranceCollaborative researchMay, 2011
Vienna University of Technology, Vienna, AustriaTo attend international conference15/02/2012
Catholic university and Keimyung university Daegu, South KoreaCollaborative research17/06/2012
École Polytechnique Universitaire de Lille, France Collaborative research01/06/2013
Jeju, South KoreaJoint Korea-India workshop in Robotics, , 30-31 November 2013.30/11/2013
Kyungpook National University, Daegu, Republic of KoreaCollaborative research20/10/2014
BangkokTo participate in International Conference on Production and Mechanical Engineering 30/12/2014
Taipei, Taiwan To participate in the 14th IFToMM World Congress, Taipei International Convention Center, Taiwan, 25/10/2015
Courses or Conferences Organised
Conference NameSponsored ByDate
1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM 2013)Association for Machines and Mechanisms (AMM)18/12/2013
National International Collaboration
Fault Tolerant Control and Reconfiguration of Walking Robots with Flexible LegsKyungpook National University, Daegu, South KoreaRP
Development of Control System for Mobile Robot with Manipulator for Transporting Hazardous MaterialsUniversidad Nacional de Rosario, ArgentinaRP
Modelling and Control of Mobile Cooperating Bionic ArmsDST India and INRIA FranceRP
Books Authored

Intelligent Mechatronic Systems: Modeling, Control and Diagnosis, R. Merzouki, A.K. Samantaray, P.M. Pathak, B. Ould Bouamama, Springer, London, 2013, ISBN 978-1-4471-4628-5

Refereed Journal Papers


  1. M.M. Gor, P.M. Pathak, A.K. Samantaray, J.M. Yang, and S.W. Kwak, Bond graph Modeling and Control of Compliant Legged Quadruped Robot, (Book Chapter to appear), Springer (Editor: Wolfgang Borutzky)

  2. Mihir Kumar Sutar and Pushpraj Mani Pathak, Bond Graph Modelling and Control of Hyper-Redundant Miniature Robot for In-Vivo Biopsy, (Book Chapter to appear), Springer (Editor: Wolfgang Borutzky)

  3. Vivek Kumar, Vikas Rastogi and P.M. Pathak, Simulation for whole-body vibration to assess ride comfort of a low–medium speed railway vehicle, Simulation: Transactions of the Society for Modeling and Simulation International (Accepted)

  4. Gossaye Mekonnen, Sanjeev Kumar, P. M. Pathak, Wireless Hybrid Visual Servoing of Omnidirectional Wheeled Mobile Robots, Robotics and Autonomous Systems, 75 (2016) 450–462.


  1. Vijay Kumar Dalla, Pushparaj Mani Pathak, Trajectory Tracking Control of A Group Of Cooperative Planar Space Robot Systems, Proc IMECHE Part I: J Systems And Control Engineering, Vol. 229, No. 10, pp.885-901, 2015.

  2. M. M. Gor, P. M. Pathak, A. K. Samantaray, J.-M. Yang and S. W. Kwak, Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot, Robotics and Autonomous Systems, 72 (2015) 217–234.

  3. M. K. Sutar, P. M. Pathak, N. K. Mehta, A. K. Sharma, V. K. Gupta, Inverse Kinematics and Control of Four Degree of Freedom Wire Actuated In-Vivo Robot, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 2015, Vol. 229(2) 77–91

  4. M. M. Gor, P. M. Pathak, A. K. Samantaray, J.-M. Yang and S. W. Kwak, Control of Compliant Legged Quadruped Robot in Workspace, Simulation: Transactions of the Society for Modeling and Simulation International 2015, Vol. 91(2) 103–125.

  5. Coralie Escande, Taha Chettibi, Rochdi Merzouki, Vincent Coelen, Pushparaj Pathak, Kinematic Calibration of a Multi-section Bionic Manipulator, IEEE/ASME Transactions on Mechatronics, Vol.20(2), 2015, pp. 663-674.

  6. Rishikesh Rathee and Pushparaj Mani Pathak, “Dual Arm Free Flying Space Robot Trajectory Planning Using Polynomial,” Journal of Robotics, vol. 2015, Article ID 324831, 11 pages, 2015. doi:10.1155/2015/324831 


  1. Atul Kumar, P. K. Jain, P. M. Pathak, Reverse Engineering Approach For Measurement And Inspection of Machine Element, International Journal of Advanced Manufacturing Systems, 15(1),2014, pp. 95-101 

  2. Achin Garg, Chandra Sen Vikram, Saurabh Gupta, Mihir Kumar Sutar, P.M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta, Design and Development of In-vivo Robot for biopsy, Mechanics based Design of Structures and Machines, Volume 42, Issue 3, 2014, pages 278-295

  3. A. Kumar, P. K. Jain, P. M. Pathak, Identification of Wear in Gear Teeth by Reverse Engineering Approach', Int. J. Precision Technology, 4(1/2), 46-56, 2014.

  4. Prabhkiran Kaur, D.K. Dwivedi, P.M. Pathak and Sunil Kumar, Improvement in Wear Properties of a Hypereutectic Aluminium Silicon Alloy with Manganese, Journal of Industrial Engineering and Management Science, 4(3), 121-124, 2014.

  5. Atul Kumar, P. K. Jain, P. M. Pathak, Curve Reconstruction of Digitized Surface Using K-means Algorithm, Procedia Engineering 69, 544-549, 2014.


  1. L. Sardana, Mihir Sutar, P. M. Pathak, A Geometric Approach for Inverse Kinematics of a 4- Link Redundant In- Vivo Robot for Biopsy, Robotics and Autonomous Systems, Volume 61, Issue 12December 2013Pages 1306-1313.

  2. Haresh Patolia, P. M. Pathak, S. C. Jain, Reduced Model Based Trajectory Control of Multi-Arm Space Robot, Advances in Vibration Engineering, 12(3), 2013, pp. 251-265.

  3. K. Ganesh, Pushparaj Mani Pathak, Modelling and Simulation of Four Legged Jumping Robot with Compliant Legs in Sagital Plane, Robotics and Autonomous Systems, 61(2013), 221-228.

  4. Amit Kumar, Pushparaj Mani Pathak, N. Sukavanam, Trajectory Control of Two DOF Rigid- Flexible Space Robot by a Virtual Space Vehicle, Robotics and Autonomous Systems, 61 (5) , pp. 473-482, 2013.



  1. Mihir Kumar Sutar, P. M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta, Forward kinematic analysis of in-vivo robot for stomach biopsy, J Robotic Surgery, DOI 10.1007/s11701-012-0375-y, 2012

  2. Vikrant Bende, Pushparaj M Pathak, Kedar S Dixit and SP Harsha, Energy optimal trajectory planning of an underwater robot using a genetic algorithm, Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 226 (8), pp. 1077-1087.

  3. V.L. Krishnan, P.M. Pathak, S.C. Jain, and A.K. Samantaray, Reconfiguration of four-legged walking robot for actuator faults. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 226(1), 11-26, 2012

  4. H. Patolia, P.M. Pathak, and S.C. Jain, Design of a virtual foundation for impedance control in a dual arm cooperative space robot. Simulation: Transactions of the Society for Modeling and Simulation International, 88(6), 731-745, 2012.

  5. Prabhkiran Kaur, D.K. Dwivedi, and P.M. Pathak, Effects of electromagnetic stirring and rare earth compounds on the microstructure and mechanical properties of hypereutectic Al-Si alloys. International Journal of Advanced Manufacturing Technology, Vol. 63, Issue 1-4, pp. 415-420, 2012. 

  6. Lalit Kralia, I. V. Singh, P. M. Pathak, and R. Jayaganthan, An Experimental Study of Mechanical and Fatigue Behavior of Cryorolled Al 6063 Alloy, International Journal of Mechanical and Materials Engineering, , Vol. 7, No. 2, pp. 124-127, 2012. 


  1. Amit Kumar, Pushparaj Mani Pathak, N. Sukavanam, Bond Graph Modeling and Computational Control Analysis of a Rigid-Flexible Space Robot in Work Space, International Journal of Intelligent Mechatronics and Robotics (IJIMR), pp. 18-30, 2011.

  2. Amit Kumar, Pushparaj Mani Pathak, N. Sukavanam, Reduced Model Based Control of Two Link Flexible Space Robot, Intelligent Control and Automation, 2011, 2, 112-120

  3. Pushpendra Kumar and Pushparaj Mani Pathak, Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration, International Journal of Intelligent Mechatronics and Robotics (IJIMR), 2011, 27-41.

  4. Prabhkiran Kaur, Dheerendra K. Dwivedi, Pushparaj M. Pathak, Sergio Haro Rodriguez, An effect of Electromagnetic stirring and Cerium oxide addition on dry, sliding and reciprocating wear of Al-Si alloy, Proceedings of the Institution of Mechanical Engineers, Part J, Journal of Engineering Tribology, 226(3) 251–258, 2011.


  1. V. L. Krishnan, P. M. Pathak, S. C. Jain, Force Control in Monopod Hopping Robot while Landing, Intelligent Control and Automation, 2010, pp. 96-104.

  2. Haresh Patolia, P. M. Pathak, S. C. Jain, Trajectory Control of a Dual Arm Space Robot with Small Attitude Disturbance, Simulation: Transactions of the Society for Modeling and Simulation International, 2010, pp. 188-204.

  3. Jatin B. Maniya; Pushparaj Mani Pathak; B. K. Mishra, Design and Development of Virtual Objects to be Used with Haptic Device for Motor Rehabilitation, J. Software Engineering & Applications, pp.990-997, 2010

  4. Rahul Maheshwari; Rahul Gupta; Rachit Jaiwant; Haresh Patolia; P. M. Pathak; S. C. Jain, Mechatronic Design and control of  a Planar Cooperative Robot, International Journal of  Advanced Mechatronic Systems, Vol. 2, No. 4, 2010, pp. 271-280.


  1. P.M. Pathak, Amalendu  Mukherjee, Anirvan  Dasgupta, Interaction Torque Control by Impedance Control of Space Robots, Simulation: Transactions of the Society for Modeling and Simulation International, Vol. 85, Issue 7, July 2009, 451–459.


  1. P.M. Pathak, R. Prasanth Kumar, Amalendu  Mukherjee, Anirvan  Dasgupta, A Scheme for Robust Trajectory Control of Space Robots, Simulation Modelling Practice and Theory, Volume 16, Issue 9,( October 2008),  Pages 1337-1349.

  2. Rajkumar Jain and Pushparaj Mani Pathak, Trajectory Planning of 2 DOF Planar Space Robot without Attitude Controller, World Journal of Modelling and Simulation, ISSN 1746-7233, Vol. 4, No. 3, 2008, pp. 196-204.

  3. Santosh L. Bhangare, Pushparaj Mani Pathak, Finite Element Method: Some Modelling Issues, Journal of  Vibroengineering.  2008 April/June,   Volume  10,  Issue  2,  ISSN 1392-8716, 2008,  pp. 170-175.


  1. Pathak Pushparaj Mani, “Meaningful Finite Element Discretization Scheme: A Case for Circular Disk Subjected To Four Radial Loads”, Journal of Vibroengineering, Vol.9 (1), 36-40, 2007. 


  1. Pushparaj Mani Pathak, Amalendu Mukherjee, and Anirvan Dasgupta, “Attitude Control of a Free-Flying Space Robot using a Novel Torque Generation Device”, Simulation: Transactions of the Society for Modeling and Simulation International, Vol. 82, No. 10,  pp. 661-677, 2006

  2. Pushparaj Mani Pathak, Amalendu Mukherjee, and Anirvan Dasgupta, “Impedance Control of Space Robot”, International Journal of Modeling and Simulation, Vol.26, No.4, 2006, pp.316-322.


  1. Pushparaj Mani Pathak, Amalendu  Mukherjee, and Anirvan Dasgupta, “Impedance Control of Space Robots using Passive Degrees of Freedom in Controller Domain”, Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control., 127(4), pp. 564-578, 2005.


  1. P.M. Pathak and K.Ramesh, “Validation of Finite Element Modelling Through Photoelastic Fringe Contours”, Communications in Numerical Methods in Engineering, 1999, Volume 15, pp. 229-238.

  2. K. Ramesh and P. M. Pathak, "Role of photoelasticity in evolving discretisation schemes for FE analysis", Experimental Techniques, 23(4), 36-38, 1999.

  3. S.K. Mangal, P.M. Pathak, K. Ramesh, “Use of Finite Element for Stress Separation in Digital Photoelasticity”, Journal of the Aeronautical Society of India, 1999, Volume 51, Number 4, pp. 205- 213.