V. L. Krishnan

Papers

Total Citations

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About

V. L. Krishnan’s research centers on the fault tolerance, reconfiguration, and dynamic control of legged robots, with a particular focus on quadruped and monopod platforms. His major contributions lie in developing novel strategies for actuator fault accommodation in walking robots, where he uses bond graph modeling to represent locomotion dynamics and proposes simple yet effective attitude control methods for maintaining stability during bounding gaits. Krishnan’s most cited work, “Reconfiguration of four-legged walking robot for actuator faults” (2011, 11 citations), introduces a pioneering approach to fault-tolerant control that allows a quadruped robot to continue functioning despite actuator failures. His related 2010 paper (8 citations) further refines these reconfiguration techniques. Additionally, Krishnan has addressed the critical challenge of impact force control during landing in monopod hopping robots, employing impedance control strategies to mitigate potential damage. His work on walking robots with flexible legs (3 citations) bridges simulation and experimental validation, demonstrating practical implementation of his theoretical models. Through these studies, Krishnan has advanced the reliability and robustness of legged locomotion systems, contributing valuable insights for researchers working on fault-tolerant robotics and dynamic gait control.