Rajiv Dubey

About

Rajiv Dubey is a pioneering robotics researcher whose work spans redundant manipulator control, teleoperation, and assistive robotics technology. Best known for his foundational contributions to kinematic optimization, Dubey developed the influential weighted least-norm solution for avoiding joint limits in redundant manipulators — a landmark 1995 paper that has garnered over 460 citations and remains a cornerstone reference in robotic motion planning. His extensive work on gradient projection optimization methods, spanning nearly two decades from the late 1980s through the mid-2000s, established efficient computational frameworks for controlling robots with multiple degrees of redundancy, including specialized solutions for seven-degree-of-freedom systems with spherical wrists. Beyond pure kinematics, Dubey made significant contributions to human-robot interaction, developing variable damping impedance control for telerobotic systems and sensor-assisted variable velocity mapping for teleoperation. Perhaps most impactful socially is his work on wheelchair-mounted robotic arm systems, where he applied advanced brain-computer interface control to assistive devices for mobility-impaired individuals — demonstrating both technical depth and humanitarian purpose. His early exploration of robotic fabric handling for garment manufacturing further illustrates his breadth. With a citation record reflecting decades of sustained influence, Dubey's research has shaped modern redundant robot control and assistive robotics alike.

Research Focus

Key Achievements

Top Papers

1. 1
   A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators

   463 citations · 1995
2. 2
   Efficient gradient projection optimization for manipulators with multiple degrees of redundancy

   111 citations · 2002
3. 3
   Control of a 9-DoF Wheelchair-mounted robotic arm system using a P300 Brain Computer Interface: Initial experiments

   95 citations · 2009
4. 4
   Redundant robot control using task based performance measures

   94 citations · 1988
5. 5
   An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist

   88 citations · 2003
6. 6
   Variable damping impedance control of a bilateral telerobotic system

   79 citations · 1997
7. 7
   Redundant robot control for higher flexibility

   68 citations · 2005
8. 8
   Robotic Fabric Handling for Automating Garment Manufacturing

   61 citations · 1983
9. 9
   Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms

   57 citations · 2005
10. 10
    Teleoperation assistance through variable velocity mapping

    46 citations · 2001

Key Collaborators

Contact & Links