Faculty

Professor Ashitava Ghosal is a Professor and Senior Associate Dean in the School of Engineering and Applied Science. Earlier to this he was the Dean of Engineering, and Professor Satish Dhawan Chair Professor in the Department of Mechanical Engineering at the Indian Institute of Science (IISc), Bengaluru. At the Indian Institute of Science, he held joint appointments at the Centre for Product Design and Manufacturing and the Robert Bosch Centre for Cyber Physical Systems. He completed his PhD from Stanford University, California, and acquired MS and BTech degrees from the University of Florida, Gainesville, and the Indian Institute of Technology, Kanpur, respectively.

Professor Ghosal's broad research areas are kinematics, dynamics, control and design of robots, and other computer-controlled mechanical systems. His interests also lie in the design of bio-medical devices and tools for minimally invasive surgery, parallel mechanisms and cable-actuated robots, numerical and experimental investigations in quadruped walking and reaching tasks, and product design. The focus of his research is on exploring associated theories, developing algorithms, software and hardware, conducting experimental work to validate theories and algorithms, and prototyping.

Professor Ghosal has six patents and over 175 publications in archival journals and national and international conferences. He has guided 16 PhDs and more than 60 Master’s students. He was elected as an Executive Committee member of the International Federation for the Promotion of Mechanism and Machine Science—an organisation of 46 member nations-- for two terms (2016-19 and 2019-23). He is an Associate Editor in the Elsevier Journal of Mechanism and Machine Theory and served as Associate Editor of the ASME Journal of Mechanisms and Robotics (2018-24), ASME Journal of Mechanical Design (2006-12), Mechanics based Design of Structures and Machines (2013-20) and Recent Patents in Mechanical Engineering (2007-16). He was elected a Fellow of the Indian National Academy of Engineering in 2010.

Professor Ghosal has regularly taught courses on robotics, dynamics and control of mechanical systems, and computer-aided product design at IISc. He has authored a textbook titled Robotics: Fundamental Concepts and Analysis by Oxford University Press. He has conducted short-term courses on robot kinematics and muti-body dynamics at the University of Duisberg-Essen, Germany (2015) and modelling, optimisation, and simulation at Udine, Italy (2000). Recently, Professor Ghosal has created two National Programmes on Technology Enhanced Learning (NPTEL) lecture series on Robotics (2021) and Dynamics and Control of Mechanical Systems (2022), which are part of the academic curriculum in several Indian institutions.

Professor Ghosal is a life member of the Association of Machines and Mechanisms, India. He has organised national and international conferences and delivered keynote talks and seminars. His research has been funded by several national and international funding agencies such as the Department of Science and Technology (DST), Biotechnology Industry Research Assistance Council (BIRAC), Defence Research and Development Organisation (DRDO), General Motors, Robert Bosch Foundation and Solar Energy Research Institute for India and US.

More information on Professor Ghosal’s professional achievements and affiliations is available at https://mecheng.iisc.ac.in/~asitava

Mechanism and Robots, Bio-medical Devices and Minimally Invasive Surgery, Learning and Motor Control, Theoretical Kinematics, Dynamics of Flexible Robots and Non-linear Dynamical Systems, Product Design and CAD/CAM, Walking Robots and Quadrupeds

More information on research of Professor Ashitava Ghosal is available at https://mecheng.iisc.ac.in/~asitava

Textbook & NPTEL Lectures

• Robotics: Fundamental Concepts and Analysis, Oxford University Press, 2006 – OUP Link.
• NPTEL Course on Dynamics and Control of Mechanical Systems, 2022 -- NPTEL Link
• NPTEL Course on Robotics: Basics and Advanced Concepts -- NPTEL Link

Book Chapters and Reviews

• Auchter, J., Moore, C. A., & Ghosal, A. (2009). "A novel kinematic model for rough terrain robots." Lecture Notes in Electrical Engineering: Advances in Computational Algorithms and Data Analysis (Vol. 14, pp. 215-234). Springer.
• Ghosal, A. (2011). "Book review: Mechanism design and configuration space." Computer-Aided Design, 43, 1912-1913.
• Ghosal, A. (2014). "Manipulator Kinematics." Handbook of Manufacturing Engineering and Technology. Springer-Verlag London.

In Journals

• Mahapatra, S. K. and Ghosal, A. (2024). ``Modeling, simulations and experiments with generally routed cable-driven continuum robots and their application to three-fingered grippers.’’Robotica, pp. 1-16.
• Singh, Y P, Ahmad N and Ghosal, A. (2024). ``Design of decoupled and dynamically isotropic parallel manipulators considering five degrees-of-freedom’.’ ASME Journal of Mechanisms and Robotics, 16 (1), pp. 011009.
• Ashwin, K. P., Mahapatra, S. K. and Ghosal, A. (2021). ``Profile and contact force estimation of cable-driven continuum robots in presence of obstacles." Mechanism and Machine Theory, Vol. 164, pp. 104404.
• Ashwin, K. P., Chaudhury, A. N. and Ghosal, A. (2020). ``Efficient representation of ducts and cluttered spaces for realistic motion planning of hyper-redundant robots through confined paths.'' Computer-Aided Design, Vol. 119, pp. 102777.
• Ashwin, K. P. and Ghosal, A. (2019). ``A soft-robotic end-effector for independently actuating endoscopic catheters.'' ASME Trans., Journal of Mechanisms and Robotics, Vol. 11, No. 6, pp. 061004.
• Ashwin, K. P. and Ghosal, A. (2019). ``Static modeling of miniaturized pneumatic artificial muscles, kinematic analysis and experiments on an endoscopic end-effector.'' IEEE/ASME Trans. on Mechatronics, Vol. 24, No. 4, pp. 1429-1439.
• Singh, P., Lenka, A., Stezin, A., Jhunjhunwala, K., Pal, P. K., Ghosal, A., & Murthy, A. (2019). "Basal ganglia contributions during the learning of a visuomotor rotation: effect of dopamine, deep brain stimulation and reinforcement." European Journal of Neuroscience. Also available as biorXiv preprint   
• Ahmad, N. Ranganath, R. and Ghosal A. (2019). ``Modeling of coupled dynamics of damping particles filled in the cells of a honeycomb sandwich plate and experimental validation.'' JVC/Journal of Vibration and Control, Vol. 25, No. 11, pp. 1706-1719.
• Ashwin, K. P. and Ghosal, A. (2018) ``A survey of static modeling of miniaturized pneumatic artificial muscles with new model and experimental results.'' Trans. ASME, Applied Mechanics Reviews, Vol. 70, No. 4, pp. 040802-19.
• Reddy, B. S. and Ghosal, A. (2018). ``Robustness analysis of simple and augmented proportional plus derivative controller in trajectory following robots using Floquet theory.'' Trans. ASME, Journal of Computational and Nonlinear Dynamics, Vol. 13, pp. 074501-1.
• Chaudhury, A. N. and Ghosal, A. (2018). ``Workspace of multi-fingered hands using Monte Carlo method.'' Trans. ASME, Journal of Mechanisms and Robotics, Vol. 10, No. 4, pp. 041003.
• Bhattacharya, S, Ananthasuresh, G. K. and Ghosal, A. (2018). ``Design of one-dimensional flexible structure for desired load-bearing capability and axial displacement.'' Mechanics Based Design of Structures and Machines, Vol. 43, No. 3, pp. 376-399.
• Ghosal, A. (2018). ``Resolution of redundancy in robots and in a human arm.'' Mechanism and Machine Theory, Vol. 125, pp. 126-136.
• Ashith Shyam, R. B. and Ghosal, A. (2018). ``Path planning of a 3-UPU wrist parallel manipulator for sun tracking in central receiver tower systems.'' Mechanism and Machine Theory, Vol. 119, pp. 130-141.
• Ashith Shyam, R. B., Acharya, M. and Ghosal, A. (2017). ``A heliostat based on a three degree-of-freedom parallel manipulator.'' Solar Energy, Vol. 157, pp. 672-686.
• Chaudhury, A. N. and Ghosal, A. (2017) ``Optimum design of multi-degree-of-freedom closed-loop mechanisms and parallel manipulators for a prescribed workspace using Monte Carlo method.'' Mechanism and Machine Theory, Vol. 118, pp. 115-138.
• Valeron, F., Ceccarelli, M., Ghosal, A., ``Applied mathematics to mobile robotics and their applications.'' Mathematical Problems in Engineering.
• Menon S. M., Ravi, V. C., and Ghosal, A. (2017). ``Trajectory planning and obstacle avoidance for hyper-redundant serial robots.'' Trans. ASME, Journal of Mechanisms and Robotics, Vol. 9, pp. 041010-041010-9.
• Reddy, B. S. and Ghosal, A. (2017). ``Chaotic motion in a flexible beam and synchronization.'' Trans. ASME, Journal of Computational and Nonlinear Dynamics, Vol. 12(4), pp. 0445055-044505-7.
• Ahmad, N., Ranganath, R., and Ghosal, A. (2017). ``Modeling and experimental study of a honeycomb beam filled with damping particles.'' Journal of Sound and Vibration, Vol. 391, pp. 20-34.
• Singh, P., Jana, S., Ghosal, A. and Murthy A. (2016). ``Exploration of joint redundancy but not task space variability facilitates supervised motor learning.'' PNAS, Vol. 113 (50), pp. 14414-14419.
• Reddy, B. S., and Ghosal, A. (2016). ``Asymptotic stability and chaotic motions in trajectory following feedback-controlled robots.'' Trans. ASME, Journal of Computational and Nonlinear Dynamics, Vol. 11(5), pp. 051012-051012-11.
• Menon, S. Midhun, Gurumoorthy, B. and Ghosal, A. (2016). ``Efficient simulation and rendering of realistic motion of one-dimensional flexible objects.'' Computer-Aided Design, Vol. 75-76, pp. 13-26.
• Reddy, B. S. and Ghosal, A. (2015). ``Nonlinear dynamics of a rotating flexible link.'' Trans. ASME, Journal of Computational and Nonlinear Dynamics, Vol. 10(6), pp. 061015-061015-9.
• Tharakeshwar, A., and Ghosal, A. (2015). ``A mobile robot with a two-degree-of-freedom suspension for traversing uneven terrains with minimal slip: Modeling, simulation and experiments.'' Mechanism and Machine Theory, Vol. 93, pp. 83-97.
• Ashith Shyam, R. B. and Ghosal, A. (2015). ``Three-degree-of-freedom parallel manipulator to track the sun for concentrated solar power systems.'' Chinese Journal of Mechanical Engineering, Vol. 28, No. 4, pp. 793-800.
• Tharakeshwar, A., and Ghosal, A. (2015). ``Modeling and simulation of a three-wheeled mobile robot on uneven terrains with two-degree-of-freedom suspension mechanisms.'' Mechanics Based Design of Structures and Machines, Vol. 43(4), pp. 466-486.
• Chakravarthy, S., Aditya K., and Ghosal A. (2014). ``Experimental characterization and control of miniaturized pneumatic artificial muscle.'' Trans. ASME, Journal of Medical Devices, Vol. 8(4), pp. 041011.
• Chankekar, P. V., Fenelon, M. A. A., and Ghosal, A. (2013). ``Synthesis of adjustable spherical four-link mechanisms for approximate multi-path generation.'' Mechanism and Machine Theory, Vol. 70, pp. 538-552.
• Ranjan, B. S. C., Vikranth, H. N., and Ghosal, A. (2013). ``A novel prevailing torque fastener and its analysis.'' Trans. ASME, Journal of Mechanical Design, Vol. 135(10), pp. 101007-9.
• Karanam, V. M., and Ghosal, A. (2013). ``Studies on wobble mode stability of a three-wheeled vehicle.'' Proc. of IMechE, Part D: Journal of Automobile Engineering, Vol. 227(8), pp. 1200-1209. See also IISc Eprints document for additional material on modeling of three-wheeled vehicle.
• Chankekar, P. V., and Ghosal, A. (2013). ``Optimal synthesis of adjustable planar four-bar crank-rocker type mechanism for approximate multi-path generation.'' Mechanism and Machine Theory, Vol. 69, pp. 263-277.
• Rangaprasad, A. S., Bandyopadhyay, S., and Ghosal, A. (2013). ``Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations.'' Mechanism and Machine Theory, Vol. 69, pp. 127-141.
• Menon, M. S., Ananthasuresh G. K., and Ghosal, A. (2013). ``Natural motion of one-dimensional flexible objects using minimization approaches.'' Mechanism and Machine Theory, Vol. 67, pp. 64-76.
• Tharakeshwar, A., and Ghosal, A. (2013). `` A three-wheeled mobile robot for traversing uneven terrain without slip: Simulation and experiments.'' Mechanics based Design of Structures and Machines, Vol. 41(1), pp. 60-78.
• Kamesh, D., Pandiyan, R., and Ghosal, A. (2012). ``Passive vibration isolation of reaction wheel disturbances using a low frequency flexible space platform.'' Journal of Sound and Vibration, Vol. 331(6), pp. 1310-1330.
• Kumara, P. K., and Ghosal, A. (2012). ``Real-time computer simulation of three dimensional elastostatics using finite point method.'' Applied Mechanics and Materials, 110-116, pp. 2740-2745.
• Tharakeshwar, A., and Ghosal, A. (2012). ``Tip over stability of a three-wheeled mobile robot capable of traversing uneven terrains without slip.'' Applied Mechanics and Materials, 110-116, pp. 2940-2947.
• Ghosal, A. (2011). ``Six component force-torque sensors Gough-Stewart platform manipulators.'' Annals of the Indian National Academy of Engineering, Vol. VIII, pp. 79-88.
• Ghosal, A. (2010). ``The Freudenstein equation: Design of four-link mechanisms.'' Resonance, Vol. 15, pp. 699-710.
• Kamesh, D., Pandiyan, R., and Ghosal, A. (2010). ``Modelling, design and analysis of a low frequency platform for attenuating micro-vibrations in spacecraft.'' Journal of Sound and Vibration, Vol. 329(17), pp. 3431-3450.
• Ravi, V. C., Rakshit, S., and Ghosal, A. (2010). ``Redundancy resolution using tractrix -- simulations and experiments.'' Trans. ASME, Journal of Mechanisms and Robotics, Vol. 2, pp. 031013-1.
• Sreenivasan, S., Goel, P., and Ghosal, A. (2010). ``A real-time algorithm for simulation of flexible objects and hyper-redundant manipulators.'' Mechanism and Machine Theory, Vol. 45, pp. 454-466.
• Nagaraj, B. P., Pandiyan, R., and Ghosal, A., (2010). ``A constraint Jacobian based approach for static analysis of pantograph masts.'' Computers & Structures, Vol. 88(1), pp. 95-104.
• Bandyopadhyay, S., and Ghosal, A. (2009). ``An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators.'' Mechanism and Machine Theory, Vol. 44, pp. 1360-1370.
• Bandyopadhyay, S., and Ghosal, A. (2009). ``An eigenproblem approach to classical screw theory.'' Mechanism and Machine Theory, Vol. 44, pp. 822-834.
• Nagaraj, B. P., Pandiyan, R., and Ghosal, A. (2009). ``Kinematics of pantograph masts.'' Mechanism and Machine Theory, Vol. 44, pp. 822-834.
• Shankar Narayan, S., Nair, P. S., and Ghosal, A. (2008). ``Dynamic interaction of rotating momentum wheels with spacecraft elements.'' Journal of Sound and Vibration, Vol. 315 (4-5), pp. 970-984.
• Sangamesh Deepak R. and Ghosal, A. (2008). ``Special coordinates associated with recursive forward dynamic algorithm for open loop rigid multibody systems.'' Trans. ASME, Journal of Applied Mechanics., Vol. 75 (5), pp. 051003 – 05100311.
• Bandyopadhyay, S. and Ghosal, A. (2008). ``An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulator.'' Mechanism and Machine Theory, Vol. 43, pp. 591-616.
• Sangamesh Deepak R. and Ghosal, A. (2006). ``A note on the diagonalizability and the Jordan form of the 4 x 4 homogeneous transformation matrix.'' Trans. ASME, Journal of Mechanical Design, Vol. 128, pp. 1343-1348.
• Bandyopadhyay, S. and Ghosal, A. (2006). ``Geometric characterization and parametric representation of the singularity manifold of a 6-6 Stewart platform manipulator.'' Mechanism and Machine Theory, Vol. 41, pp. 1377-1400.
• Shaker, C. and Ghosal, A. (2006). ``Nonlinear modeling of flexible manipulators using nondimensional variables.'' Trans. ASME, Journal of Computational and Nonlinear Dynamics, Vol. 1, pp. 123-134.
• Chakraborty, N., and Ghosal, A. (2005). ``Dynamic modeling and simulation of wheeled mobile robot for traversing uneven terrain without slip.'' Trans. ASME, Journal of Mechanical Design, Vol. 127, pp. 901-909.
• Chakraborty, N., and Ghosal, A. (2004). ``Kinematics of wheeled mobile robots on uneven terrain.'' Mechanism and Machine Theory, Vol. 39, pp. 1273-1287.
• Bandyopadhyay, S. and Ghosal, A. (2004). ``Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices.'' Mechanism and Machine Theory, Vol. 39, pp. 1289-1305.
• Ranganath, R., Nair, P. S., Mruthyunjaya, T. S., and Ghosal, A (2004). ``A force-torque sensor based on a Stewart Platform in a near-singular configuration.'' Mechanism and Machine Theory, Vol. 39, pp. 971-998.
• Bandyopadhyay, S., and Ghosal, A. (2004). ``Analysis of configuration space singularities of closed-loop mechanisms and parallel manipulators.'' Mechanism and Machine Theory, Vol. 39, pp. 519-544.
• Nagaraj, B. P., Nataraju, B. S., and Ghosal, A. (2003). ``Energy transfer during locking of deployable flexible links.'' Journal of Spacecraft Technology, Vol. 13, No. 2, pp. 19-32.
• Theodore, R. J., and Ghosal, A. (2003). ``Robust control of multilink flexible manipulators.'' Mechanism and Machine Theory, Vol. 38, No. 4, pp. 367-377.
• Bandyopadhyay, S., Ghosal, A., and Ravani, B. (2002). ``A differential geometric method for kinematic analysis of two- and three-degree-of-freedom rigid body motions.'' Mechanics based Design of Structures and Machines, Vol. 30, No. 3, pp. 279-307.
• Ghosal, A., and Ravani, B. (2001). ``Differential geometric analysis of singularities of point trajectories of serial and parallel manipulators.'' Trans. ASME, Journal of Mechanical Design, Vol. 123, pp. 80-89.
• Chowdhury, P., and Ghosal A. (2000). ``Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.'' Mechanism and Machine Theory, Vol. 35, pp. 1455-1479.
• Reddy, B. S., Simha, K. R. Y., and Ghosal, A. (1999). ``Free vibration of kinked cantilever with attached masses.'' Journal of the Acoustical Society of America, Vol. 105, No. 1, pp. 164-174.
• Ravishankar, A. S., and Ghosal, A. (1999). ``Nonlinear dynamics and chaotic motions in feedback controlled two and three-degree-of-freedom robots.'' Int. Journal of Robotics Research, Vol. 18, No. 1, pp. 93-108.
• Nagaraj, B. P., Nataraju, B. S., and Ghosal, A. (1997). ``Dynamics of a two-link flexible system undergoing locking-- mathematical modeling and comparison with experiments.'' Journal of Sound and Vibration, Vol. 207, No. 4, pp. 567-589.
• Shrinivas, L., and Ghosal, A. (1997). ``Chaos in robot control equations.'' International Journal of Bifurcation and Chaos, Vol. 7, No.3, 1997, pp. 707-720.
• Theodore, R. J., and Ghosal, A. (1997). ``Modeling of flexible manipulators with prismatic joints.'' IEEE Trans. on Systems, Man and Cybernetics -- Part B, Vol. 27, No. 2, pp. 296-305.
• Basu, D., and Ghosal, A. (1997). ``Singularity analysis of platform-type multi-loop spatial mechanisms.'' Mechanism and Machine Theory, Vol. 32, No. 3, pp. 113-127.
• Theodore, R. J., Arakeri, J. H., and Ghosal, A. (1996). ``The modeling of axially translating flexible beams.'' Journal of Sound and Vibration, Vol. 191, No. 3, pp. 363-376.
• Ghosal, A. (1996). ``Experiments and simulation of model-based controlled robots.'' Journal of the Indian Institute of Science, Vol. 76, No. 1, pp. 109-124.
• Theodore, R. J., and Ghosal, A. (1995). `` Comparison of the assumed modes and finite element models for flexible multi-link manipulators.'' International Journal of Robotics Research, Vol. 14, No. 2, pp. 91-111.
• Balakrishna, A., and Ghosal, A. (1995). ``Modeling of slip for wheeled mobile robots.'' IEEE Trans. on Robotics and Automation, Vol. 11, No. 1, pp. 126-132.
• Dwarakanath, T. A., Ghosal, A., and Srinivasa, U. (1994). ``Kinematic analysis and design of articulated manipulators with joint motion constraints.'' Trans. ASME, Journal of Mechanical Design, Vol. 116, No. 3, pp. 969-972.
• Ghosal, A., and Desa, S. (1993). ``Dynamic resolution of redundancy for robot manipulators.'' Trans. ASME, Journal of Mechanical Design, Vol. 115, pp. 592-598.
• Ghosal, A. (1992). ``The science and technology of robotics.'' Bulletin of Sciences, Vol. VI, No. 3, pp. 5-10.
• Ghosal, A., and Roth, B. (1988). ``A new approach for kinematic resolution of redundancy.'' International Journal of Robotics Research, Vol. 7, No. 2, pp. 22-35.
• Ghosal, A., and Roth, B. (1987). ``Instantaneous properties of multi-degrees-of-freedom motions -- Line trajectories.'' Trans. ASME, Journal of Mechanisms, Transmission and Automation in Design, Vol. 109, No. 1, pp. 116-124.
• Ghosal, A., and Roth, B. (1987). ``Instantaneous properties of multi-degrees-of-freedom motions -- Point trajectories.'' Trans. ASME, Journal of Mechanisms, Transmission and Automation in Design, Vol. 109, No. 1, pp. 107-115.
• Sandor, G. N., Kohli, D., Hernandez, M. Jr., and Ghosal, A. (1984). ``Kinematic analysis of a three-link spatial mechanism containing sphere-plane and sphere-groove pairs.'' Mechanisms and Machine Theory, Vol. 19, No. 1, pp. 129-138.
• Sandor, G. N., Kohli, D., Reinholtz, C. F., and Ghosal, A. (1984). ``Closed-form analytic synthesis of a five-link spatial motion generator.'' Mechanisms and Machine Theory, Vol. 19, No. 1, pp. 97-105.

In National and International Conferences

• Mahapatra, S. K., and Ghosal, A. (2023). ``Obtaining Desired Shapes of Cable-Driven Continuum Robots Using General Cable Routing.’’ Proc. of IFToMM World Congress on Mechanism and Machine Science, Tokyo, pp.130-138.
• Barthwal, S., Trikha, M., and Ghosal, A. (2023). ``Flexible Hinge-Based Antenna Pointing Mechanism.’’ Proc. of IFToMM World Congress on Mechanism and Machine Science, Tokyo, pp. 302-310.
• Pal, P., Dasgupta, A., Kolathaya, S. N. Y., and Ghosal, A. (2023). ``Optimum Design of a Compliant Foot for a Quadruped.’’ Proc. of the 2023 6th International Conference on Advances in Robotics, pp. 1-7.
• Pal, P., Dasgupta, A., A Bhashkar, A., Kolathaya, S. N. Y., and Ghosal, A. (2023). `` Efficient Robot Hopping Mechanisms with Compliance Using Evolutionary Methods.’’ Proc. of International Conference on Robotics in Alpe-Adria Danube Region, pp. 453-460.
• Singh, Y. P. and Ghosal, A. (2023). ``Dynamically Isotropic Gough-Stewart Platform Design Using a Pair of Triangles.’’  Proc. of International Conference on Robotics in Alpe-Adria Danube Region, pp. 264-272.
• Ahmad, N., Ranganath, R., Poomani, D., and Ghosal, A. (2023). ``Vibration isolation characteristics of a modified Gough-Stewart platform with the top platform filled with damping particles.'' Recent Advances in Machines and Mechanisms, pp. 243-256.
• Singh, Y. P., and Ghosal, A. (2022). ``Design of decoupled and dynamically isotropic parallel manipulators with five degrees of freedom.'' International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, ASME, Vol. 86281.
• Sharma, S., and Ghosal, A. (2022). ``Reaction solvability analysis using natural coordinates.'' Lecture Notes in Mechanical Engineering, pp. 991-1000.\par
• Mahapatra, S. K., Ashwin, K. P., and Ghosal, A. (2021). ``Modeling of cable-driven continuum robots with general cable routing: A comparison." IFToMM Asian Conference on Mechanism and Machine Science, pp. 345-353.
• Singh, Y. P., Ahmad, N., and Ghosal, A. (2021). ``Design of dynamically isotropic modified Gough-Stewart platform using a geometry-based approach." IFToMM Asian Conference on Mechanism and Machine Science, pp. 258-268.
• Singh, Y. P., Ahmad, N., and Ghosal, A. (2021). ``Design of dynamically isotropic two radii Gough-Stewart platform with arbitrary number of struts." 9th RSI International Conference on Robotics and Mechatronics (ICROM) -- IEEE, pp. 66-71.
• Paigwar, K., Krishna, L., Tirumala, S., Khetan N., Verma, A., Joglekar, A., Bhatnagar, S., Ghosal, A., Amrutur, B., and Kolathaya, S. N. Y. (2021). `` Robust quadrupedal locomotion on sloped terrains: A linear policy approach.’’ Proc. of the 2020 Conference on Robot Learning, PMLR 155:2257-2267.
• Karia, D., Rathnam, R., Saxena, A., Joshi, M., Ghosal, A., Arora, M., and Gurumoorthy B. (2021). `` Design of a heart perfusion device for extending preservation time: A case study of risk management for a high-risk medical device.'' Smart Innovation, Systems and Technologies, Vol. 223, pp. 679-692.
• Ashwin, K. P., and Ghosal, A. (2021). ``Forward kinematics of cable-driven continuum robot using optimization method.'' Lecture Notes in Mechanical Engineering, pp. 391-403.
• Singh, U., Trikha, M., and Ghosal, A (2021). ``Dynamic analysis of a legged lander system.'' Lecture Notes in Mechanical Engineering, pp. 449-458.
• Ahmad, N., Ranganath, R., and Ghosal, A. (2021). ``A simplified impact damping model for honeycomb sandwich using discrete element method and experimental data.'' Lecture Notes in Mechanical Engineering, pp. 337-353.
• Tirumala, S., Gubbi, S., Paigwar, K., Sagi, A., Joglekar, A., Bhatnagar, S., Ghosal, A., Amrutur, B., and Kolathaya, S. (2020). ``Learning stable manoeuvres in quadruped robots from expert demonstrations.'' 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020}, pp. 1107-1112.
• Bhattacharya, S., Singla, A., Abhimanyu, Dholakiya, D., Bhatnagar, S., Amrutur, B., Ghosal, A., and Kolathaya, S. (2019). ``Learning active spine behaviors for dynamic and efficient locomotion in quadruped robots.'' 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019.
• Kolathaya, S., Ghosal, A., Amrutur, B., Joglekar, A., Shetty, S., Dholakiya, D., Abhimanyu, Sagi A, Bhattacharya, S., Singla, A., and Bhatnagar, S. (2019). ``Trajectory based deep policy search for quadrupedal walking.'' 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019.
• Dholakiya, D., Bhattacharya, S., Gunalan, A., Singla, A., Bhatnagar, S., Amrutur, B., Ghosal, A., Kolathaya, S. (2019). “Design, development and experimental realization of a quadrupedal research platform: Stoch.'' 5th International Conference on Control, Automation and Robotics, ICCAR 2019, Pages 229-234. Also available at arXiv preprint arXiv:1901.00697.
• Singla, A., Bhattacharya, S., Dholakia, D., Bhatnagar, S., Ghosal, A., and Amruthur, B. (2019). ``Realizing learned quadruped locomotion behaviors through kinematic motion primitives.'' Proc. IEEE International Conference on Robotics and Automation, Volume 2019-May, Pages 7434-7440. Also available at arXiv preprint arXiv:1810.03842.
• Ashwin K.P., and Ghosal A (2017). ``Profile estimation of a cable-driven continuum robot with general cable routing.'' Mechanisms and Machine Science, Volume 73, pp. 1879-1888.
• Ashwin, K. P., and Ghosal, A. (2019). ``Mathematical model for pressure-deformation relationship on miniaturized McKibben actuators.'' Proc. of iNaCoMM 2017, Mumbai, India, 2017 -- also in Machines, Mechanism and Robotics, pp. 267-278, Springer.
• Chaudhury, A. N., and Ghosal, A. (2017). ``Workspace of Multi-fingered robotic hands using Monte Carlo method.'' Proc. of iNaCoMM 2017, Mumbai, India. -- also in Machines, Mechanism and Robotics 2019, pp. 317-327, Springer.
• Shetty, S., and Ghosal, A. (2017). ``Trajectory tracking and control of a car-like robot'', Proc. of iNaCoMM 2017, Mumbai, India. -- also in Machines, Mechanism and Robotics 2019, pp. 759-767, Springer.
• Ahmad, N., Ranganath, R., and Ghosal, A. (2017). ``Optimal parameter estimation of damping particles inserted in a honeycomb sandwich cells.'' Proc. of 28th Int. Conference on Adaptive Structures and Technologies (ICAST 2017), Cracow, Poland.
• Ahmad, N., Ranganath, R., and Ghosal, A. (2017). ``A simplified impact damping model for honeycomb sandwich using discrete element method and experimental data.'' Proc. of 13th Int. Conference on Vibration Problems (ICOVP), Guwahati, India.
• Chaudhury, A. N., and Ghosal, A. (2017). ``Determination of workspace volume of parallel manipulators using Monte Carlo method.'' Computational Kinematics (CK 2017), Futuroscope-Poiters, France.
• Bhattacharya, S., and Ghosal, A. (2017). ``Flexible spine modeling for quadruped robot.'' Proc. of Dynamic Walking 2017, Finland.
• Ahmed, N., Ranganath, R., and Ghosal, A. (2016). ``Assessment of particle damping device for large laminated structures under acoustic excitations.'' Proc. of the 14th National Conference on Composites (INCOMM-14), Hyderabad, India, 2016.
• Pramanik, S., and Ghosal, A. (2015). ``Development of a sun tracking system using a 3-UPU spherical wrist manipulator.'' Proc. of iNaCoMM 2015, Kanpur, India.
• Ashwin, K. P., Jose Don, P., and Ghosal, A. (2015). ``Modeling and analysis of a flexible end-effector for actuating endoscopic catheters.'' Proc. of 14th World Congress in Mechanism and Machine Science 2015, Taipei, Taiwan.
• Menon, M. S., and Ghosal, A. (2015). ``Obstacle avoidance for hyper-redundant snake robots and one-dimensional flexible bodies using optimization.'' Proc. of 14th World Congress in Mechanism and Machine Science 2015, Taipei, Taiwan.
• Ashith Shyam, R. B. and Ghosal, A. (2015). ``A three-degree-of-freedom parallel manipulator for concentrated solar power towers: modeling, simulation and design.'' Proc. of SolarPACE 2015, Cape Town, South Africa.
• Menon, S. M., Gurumoorthy, B., Ghosal, A. (2014). ``Efficient resolution of hyper-redundancy using splines.'' Advances in Robot Kinematics 2014, pp. 447-456.
• Ashith Shyam, R, B., and Ghosal, A. (2014). ``A parallel mechanism for tracking the Sun.'' Proc. of IFToMM Asian MMS, Tianjin.
• Raviteja, C., Prasad Atluri, V., and Ghosal, A. (2014) ``Experimental comparison of two different hybrid propulsion systems.'' Proc. of FISITA 2014, Netherlands.
• Menon, S. M., Gurumoorthy, B., and Ghosal, A. (2014). ``Efficient resolution of hyper-redundancy using splines.'' Proc. of ARK 2014, Slovenia.
• Chakravarthy, S., Kapilavai, A., and Ghosal, A. (2013). ``Development of miniaturized pneumatic artificial muscle for surgical tools.'' Proc. of iNaCoMM 2013, Roorkee.
• Chanekar P. V., and Ghosal, A. (2013). ``Synthesis of adjustable planar and spherical four-link mechanisms for approximate multi-path generation.'' Proc. of ISRM 2013, Singapore.
• Raviteja, C., Kumar, P. S., Atluri, V. P., and Ghosal, A. (2012). `` A test bed for development of low cost hybrid propulsion.'' Proc. of FISITA 2012, Beijing.
• Vinu, K. S., and Ghosal, A. (2011). ``Singularity analysis of closed-loop mechanisms and parallel manipulators.'' Proc. of NaCoMM 2011, Chennai.
• Ghosal, A., and Atluri, V. P. (2011). ``Architectural study of hybrid electric propulsion systems for Indian cities.'' Proc. of 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico.
• Banerjee, S., Menon, M. S., Ananthasuresh, G. K., and Ghosal, A. (2011). ``Simulation of length preserving motions of flexible one dimensional objects using optimization.'' Proc. of 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico.
• Chandra Sekhar, A., Bandyopadhyay, S., and Ghosal, A. (2011). ``Partitioning instantaneous degrees of freedom and its application to three-degrees-of-freedom parallel manipulators.'' Proc. of 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico.
• Kirana Kumara, P. and Ghosal, A. (2011). ``Graphics processing units for the real-time linear elastostatic simulation of liver.'' Proc. of Int. Conf. on Advanced Computing & Communication Technologies (ACCT11), pp. 458-460, Rohtak, India.
• Tharakeshwar, A., and Ghosal, A. (2010). ``3-3 suspension mechanism for wheeled mobile robots on uneven terrain.'' Int. Conf. on Vibration Engineering and Technology of Machinery - IV, IIT Delhi, pp., 790-800.
• Tharakeshwar, A. and Ghosal, A. (2010). ``SFTA suspension mechanism for wheeled mobile robot on uneven terrain.'' Int. Conf. on Frontiers in Mechanical Engineering, NIT-K, pp. 109-114.
• Kirana Kumara, P. and Ghosal, A. (2010). ``A procedure for the 3D reconstruction of biological organs from 2D image sequences.'' Int. Conf. on Biomedical Engineering and Assistive Technologies (BEATs-2010), Dr B R Ambedkar National Institute of Technology, Jalandhar, India.
• Chatterjee, D., and Ghosal, A. (2009). ``Design of a semi-regular Stewart platform manipulator for a desired workspace.'' Proc. of NaCoMM 2009, Durgapur, India.
• Ravi, V. C., Rakshit S., and Ghosal, A. (2009). ``Redundancy resolution using tractrix -- simulations and experiments.'' Proc. of ASME IDETC/CIE 2009, San Diego, USA.
• Tharakeshwar, A. and Ghosal, A. (2008). ``Novel suspension mechanisms for wheeled mobile robots on uneven terrains.'' Int. Conf. on Advances in Mechanical Engineering, IISc Bengaluru (Bengaluru).
• Bhavikatti, S., Ranganath, R., and Ghosal, A. (2007). ``A near-singular, flexure jointed, moment sensitive Stewart platform-based force-torque sensor.'' Proc. of NaCoMM 2007, IISc, Bengaluru.
• Bandyopadhyay, S. and Ghosal, A. (2007). ``Classical screw theory: a fresh look using the dual eigenproblem approach.'' Proc. of NaCoMM 2007, IISc, Bengaluru.
• Auchter, J., Moore, C., and Ghosal, A. ``Modeling of wheeled mobile robots using dextrous manipulation kinematics.'' Proc. of World Congress on Engineering and Computer Science.
• Sreenivasan, S., Goel, P., and Ghosal, A. ``Redundancy resolution using a tractrix and its application to real-time simulations of hyper-redundant manipulators, snakes and tying of knots.'' Proc. of IFTOMM World Congress, France.
• Bandyopadhyay, S., and Ghosal, A. (2007). ``An algebraic formulation of exact force, moment isotropy in spatial parallel manipulators.'' Proc. of IFTOMM World Congress, France.
• Prashanth, M., Bhavikatti, S., Ranganath, R., and Ghosal, A. (2005). ``Analysis and design of a moment sensitive flexure jointed Stewart platform-based force-torque sensor in a near singular configuration.'' Proc. of ARMS-2005, Bengaluru.
• Nagaraj, B.P., Pandian R., and Ghosal, A. (2005). ``Kinematics of pantograph masts.'' Proc. of NaCoMM 2005, IIT Guwahati.
• Shrot, A., Kunal, K., and Ghosal, A. (2005). ``A novel mechanism for tracking of the sun.'' Proc. of NaCoMM 2005, IIT Guwahati.
• Ranganath, R., Nair, P. S., Mruthyunjaya, T. S., and Ghosal, A. (2004) ``Studies on a Stewart Platform based force-torque sensor in a near singular configuration.'' Proc. of IFToMM World Congress, Tianjin, China.
• Chakraborty, N., and Ghosal, A. (2004). ``Navigation of wheeled mobile robots on uneven terrain.'' Proc. of ISPR 2004, Allahabad.
• Bandyopadhyay, S., and Ghosal, A. (2003). ``Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices.'' Proc. of NaCoMM 2003, New Delhi.
• Chakraborty, N., and Ghosal, A. (2003). ``Kinematics of wheeled mobile robots on uneven terrain.'' Proc. of NaCoMM 2003, New Delhi.
• Bandyopadhyay, S., and Ghosal, A. (2003). ``Anaytical determination of principal twists and singular directions in robot manipulators.'' Proc. of ASME DETC'03}, Chicago, USA.
• Chakraborty, N., and Ghosal, A. (2003). ``Kinematics of wheeled mobile robots with toroidal wheels on uneven terrain.'' Proc. of ASME DETC'03, Chicago, USA.
• Ranganath, R., Nair, P. S., Mruthyunjaya, T. S., and Ghosal, A. (2002). ``Analysis and design of a sensitive force-torque sensor based on a Stewart platform in a near singular configuration.'' Proc. of National Seminar on Aerospace Related Mechanisms, Thiruvananthapuram, India.
• Bandyopadhyay, S., and Ghosal, A. (2001). ``Analysis of finite self motion and finite dwell in closed-loop mechanisms and parallel manipulators.'' Proc. of ASME DETC'01, Pittsburgh, USA.
• Jaiswal, S. K., Ghosal, A., and Gurumoorthy, B. (2001). ``An efficient algorithm for circular blending of edges.'' Proc. of ASME DETC'01, Pittsburg, USA.
• Theodore, R. J., and Ghosal, A. (1999). ``Robust control of multi-link flexible manipulators.'' Proc. of NaCoMM 1999, pp. 381-393, Mumbai, India.
• Reddy, B. S., Simha, K. R. Y., and Ghosal, A. (1999). ``Free and forced vibration of a kinked cantilever beam'', Proc. of ASME DETC'99, Las Vegas, USA.
• Guruprasad, K. R., and Ghosal, A. (1999). ``Model reference learning control for rigid robots.'' Proc. of ASME DETC'99, Las Vegas, USA.
• Ghosal, A. and Ravani, B. (1998). ``A dual ellipse is a cylindroid.'' Proc. of ASME DETC'98, Atlanta, USA.
• Reddy, B. S., Simha, K. R. Y., and Ghosal, A. (1999). ``Flexible robots: parametric study of eigenfrequency characteristics.'' Proc. of National Seminar on Aerospace Related Mechanisms, Hyderabad, India.
• Guruprasad, K. R., and Ghosal, A. (1999). ``Model reference learning control for rigid robots using ANFIS.'' Proc. of National Seminar on Aerospace related Mechanisms, Hyderabad, India.
• Ghosal, A., and Ravani, B. (1998). ``Differential geometric analysis of singularities of point trajectories of serial and parallel manipulators.'' Proc. of ASME DETC'98, Atlanta, USA.
• Chowdhury, P., and Ghosal, A. (1998). ``Singularity and controllability analysis of parallel manipulators.'' Proc. of ASME DETC'98, Atlanta, USA.
• Ghosal, A., and Ravani, B. (1998). ``Geometric characterization of velocity distribution in manipulators.'' Twelfth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Paris, France.
• Ravishankar, A. S., and Ghosal, A. (1997). ``Nonlinear dynamics of robot control.'' Proc. of Int. Conf. on Dynamical Systems, Bengaluru, pp. 55-56(Extended Abstract).
• Nagaraj, B. P., Nataraju, B. S., and Ghosal, A. (1996). ``Modeling and experiments of a two-link flexible system.'' Proc. National Seminar on Aerospace Related Mechanisms, Thiruvananthapuram, India.
• Shrinivas, L., and Ghosal, A. (1996). ``Possible chaotic motions in a feedback-controlled 2R robot.'' Proc. of IEEE Conf. on Robotics and Automation (ICRA), Minneapolis.
• Ravikiran, J., Gopal, T. K. V., Dwarakanath, T. A., and Ghosal, A. (1995). ``Model based control of a 5 axis AC servo manipulator.'' Proc. of the Int. Conf. on Advances in Mechanical Engg., Bengaluru, India.
• Theodore, R. J., and Ghosal, A. (1993). ``Modeling of flexible manipulators with prismatic joints.'' Proc. of NaCoMM 1993, Kharagpur, India, pp. 158-173.
• Balakrishna, R., and Ghosal, A. (1993). ``Modeling of slip and other non-linearities for wheeled mobile robots.'' Proc. of the Int. Symposium on Intelligent Robots, Bengaluru, India, pp. 197-208.
• Dwarakanath, T. A., Ghosal, A., and Srinivasa, U. (1993). ``Kinematic study of manipulators with limited joint motions.'' Proc. of the Int. Symposium on Intelligent Robots, Bengaluru, India.
• Dwarakanath, T. A., Ghosal, A., and Srinivasa, U. (1992). ``Design of articulated manipulators based on kinematic and dynamic criteria.''1992 ASME Design Technical Conferences DE 45, pp. 627-635, Arizona, USA.
• Bhattacharya, S., and Ghosal, A. (1992). ``A neural network for concurrent generation of configuration space trajectory.'' Proc. of 1992 Int. Conf. on Artificial Neural Network (ICANN '92), Brighton, UK, Ed. I. Alexander, Elsevier, pp. 571-574, Vol. 1.
• Gopalakumaran, S., and Ghosal, A. (1991). ``Coupler curves and workspaces of planar mechanisms'', presented in National Conf. on Mechanisms and Machines - NACOMM '91, India.
• Podder, T. K., and Ghosal, A. (1991). ``Resolution of redundancy at the torque level.'' Proc. of the Int. Symposium on Intelligent Robots, Bengaluru, India, pp. 472-481.
• Theodore, R. J., and Ghosal, A. (1990). ``Modeling and control of light-weight flexible manipulators.'' Proc. of the Int. Conf. on Automation, Robotics, and Computer Vision (ICARCV'90), Singapore, pp. 361-365.
• Dwarakanath, S., Jayarajan, B., and Ghosal, A. (1990). ``Design and fabrication of a mobile robot platform with omni-directional wheels.'' Proc. of the Int. Conf. on Automation, Robotics, and Computer Vision (ICARCV'90) Singapore, pp. 504-508.
• Dwarakanath, T. A., Shrinivasa, U., and Ghosal, A. (1990). ``Optimal synthesis of geometry of painting robots with limited joint angles.'' Proc. of the Int. Conf. on Automation, Robotics, and Computer Vision (ICARCV'90), Singapore, pp. 376-381.
• Ghosal, A., and Desa, S. (1990). ``Dynamics of manipulators with redundant degrees of freedom.'' ASME Mechanisms Conference, Chicago, USA.
• Dwarakanath, T. A., Shrinivasa, U., and Ghosal, A. (1989). ``Workspace optimisation of application specific manipulators.'' Proc. of the Fourth Int. Conf. on CAD, CAM, Robotics and Factories of the Future, New Delhi, India, pp. 581-590.
• Ghosal, A., and Joy, F. (1989). ``Millcut -- An expert system for milling operations.'' Proc. of the Int. Conf. on Expert System for Development, Katmandu, Nepal.
• Desa, S., Nagurka, M. L., and Ghosal, A. (1987). ``Product redesign for performance, manufacture and assembly: A rational methodology for total system design.'' Int. Conf. on Engineering Design (ICED'87), Boston, USA.
• Ghosal, A., Sandor, G. N., and Kohli, D. (1982). ``Kinematic analysis of four-link spatial mechanisms containing sphere-groove and sphere-slotted-cylinder pairs.'' ASME Mechanisms Conference, Paper No. 82-DET-123.

Patents

• Foldable Bicycle, A Ghosal, S Pal and A Banerjee, Indian Patent No. IN2075655B, Grant Date 02/11/2007.
• Safety Cap and Sealing System for LPG Cylinders, Aloke K Gupta, A Ghosal, A Ameen, V Kamate, U Mahantappa and D V Amahantesh, Indian Patent No. IN200901689|3, Grant Date18/11/2011.
• Laparoscopic Aparatus, A Ghosal, P Goel, H Kumbhare and M Ramesh, Indian Patent No. IN2009021110|4, Grant date 04/03/2011, USA Patent No. 20120226266A1. PCT Patent No. Patent No. WO2011024200A1, Grant Date 03/03/2011
• Device for transferring subject from source platform to target platform, Arbune Sneha Suhas, Posith Uday Shankar, A Ghosal, and B Gurumoorthy, Indian Patent No. IN201400101|4, Grant Date 26/08/2016.
• A portable system for refrigeration, B Gurumoorthy, A Ghosal, Rohit S Nambiar, Deval Karia, PCT and Indian Patent Application, April 2019.

Graduate-level courses in Robotics, Dynamics and Control of Mechanical Systems, and Product Design. Professor Ghosal has also taught a course in Experimental Methods in Engineering.