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. His past experience involves algorithms development for multibody system dynamics, development of open-source physics simulators, and research in biomolecular systems modeling. He is also involved in symposia organization at various international conferences and review of journal and conference papers.

Ph.D. in Mechanical Engineering

Rensselaer Polytechnic Institute (2007)

M.S. in Mechanical Engineering

Rensselaer Polytechnic Institute (2002)

B.Eng. in Mechanical Engineering

University of Pune, India (2000)

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

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Research Tasks:
Mobility Mechanics Modeling Toolkit (M3Tk)
Terrain Ontology and Massively Parallel Granular Media Models for Mobility

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