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Address:
Jet Propulsion Laboratory
M/S 82-105
4800 Oak Grove Drive
Pasadena, CA 91109 |
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Phone:
818.354.2677 |
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Fax:
818.393.5007 |
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Email:
Click here
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Member of:
3474
Robotics Modeling, Simulation, and Visualization Group |
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Dr. Rudranarayan Mukherjee is a Research Technologist in the Robotics Modeling, Simulation, and Visualization group at the Robotics and Mobility Systems section at JPL. His core expertise is in computational multibody dynamics and he is a member of the
ASME International Technical Committee on Multibody Systems and Nonlinear Dynamics (TC-MSND). At JPL, his primary focus is on physics based modeling and simulation for design, analysis and controls of robotic systems. His current research interests include modeling of legged locomotion and hybrid dynamic systems, modeling mechanics of vehicle terrain interactions, faster than real-time modeling and simulation of multibody systems, and biomolecular systems modeling using reduced-order models.
Representative past JPL projects are:
- Vehicle dynamics and other physics modeling for Lunar Surface Operations Simulator (LSOS)
- Algorithm and software development for multibody dynamics in LSOS
- Mars Science Laboratory Manipulation and Mobility Simulations
- ARL Micro Autonomous Systems Technology (MAST) project
- Modeling of passive dynamic walkers
- Modeling of Touch-and-Go sampling using flexible booms
Current research interests include the following:
- Physics Based Modeling and Simulation of Robotic Systems
- Modeling hybrid dynamics systems such as legged robots
- Modeling vehicle terrain interactions
- Computational Multibody Dynamics Algorithms and Integrators
- Massive Particle system simulation
- Reduced order modeling of biomolecular systems dynamics
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R.M. Mukherjee, K.D. Bhalerao, K.S. Anderson, "A divide-and-conquer direct differentiation approach for multibody system sensitivity analysis," Structural and Multidisciplinary Optimization, Vol. 35, No. 5., May 2008, 413-429.
Rudranarayan M. Mukherjee1 and Kurt S. Anderson, "Efficient methodology for multibody simulations with discontinuous changes in system definition," Multibody System Dynamics, Volume 18-2, September 2007, 145-168.
Rudranarayan M. Mukherjee and Kurt S. Anderson, "Orthogonal Complement Based Divide-and-Conquer Algorithm for constrained multibody systems," Nonlinear Dynamics, vol. 48 no.1-2, April 2007, 199-215.
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