ABOUT
My passion has continuously driven me to expand my knowledge and experience. I've planned my career in robotics because I'm fascinated by the field. Keep exploring my site to learn more information about me, and reach out directly with any questions.
EXPERIENCE
Work History
September 2023 - August 2025
POST-DOCTORAL FELLOW
Human-centred Robotics Lab, IIT Gandhinagar
Develop novel cable-driven exoskeletons and analyse their performance to improve human-robot interactions.
September 2022 - August 2023
POST-DOCTORAL RESEARCHER
Healthcare Technology Innovation Center, IIT Madras Research Park
Conceptualized and implemented control strategies to utilize force feedback in surgical and diagnostic applications. Explored economical ways for sensor and robot calibration. Advised and assessed the development of motion planners for surgical applications. Identified appropriate statistical techniques to predict and analyze the phantom and clinical outcomes.
EDUCATION
What I’ve Learned
July 2015Â - July 2022
IIT MADRAS
I pursued my joint masters and doctoral study here. I secured a CGPA of 8.64/10. At first, I analysed the kinematics and singularities of the spatial 3-RPS parallel manipulator. Subsequently, I worked on the dynamic analyses of cable-driven parallel robots.
July 2009 - May 2015
RGUKTÂ NUZVID
I pursued my higher secondary education (PUC) and BTech in Mechanical engineering in this institute. The PUC includes mathematics, physics, chemistry and biology as the core courses. Secured 9.83 and 9.03 out of 10 points, respectively, in PUC and BTech.
July 2002 - May 2009
ST. ANN'S HIGH SCHOOL
A part of my primary and secondary education happened here. Participated in multiple science fairs during the course of study. Scored top in SSC examination in Mandal level with 92.33%. Secured a grand total of 92/120 with a state rank of 662 in CEEP-2009.
MY PROJECTS
What I’ve Done
RECENT PROJECTS
Post-doctoral research work
[September 2022 - August 2023]
An effective cobot control to apply a desired force on a soft body while tracking a desired trajectory on the body using feedback of reaction forces at the contact was developed. ​
A computationally efficient and economical approach for the geometric calibration of cobots using the existing facilities in robotic surgical settings was developed.
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Rakesh Kumar Kathiresan, Teja Krishna Mamidi, Shyam Ayyasamy, Manojkumar Lakshmanan, Mohanasankar Sivapraksam,
​Geometric Calibration of Cobots using Circle-Point Analysis for Surgical Applications,​
2024 IEEE International Symposium on Medical Measurements and Applications (MeMeA), 26-28 June 2024, Eindhoven, Netherlands,
FORWARD DYNAMIC ANALYSES OF CABLE-DRIVEN PARALLEL ROBOTS AND APPLICATIONS TO THEIR KINETOSTATIC PROBLEMS
PhD research work
[January 2018 - July 2022]
A comprehensive and efficient computational framework to analyse the dynamics of cable-driven parallel robots was proposed. The effects of inertia, stiffness and damping properties of the cables were included in its dynamic model. A novel forward dynamics algorithm, the RSSLM approach, was proposed to meet the arduous computational demands of the simulations. This computational framework was used to solve the forward kinetostatic problems of these robots and analyse their dynamics with different modes of actuation.
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Teja Krishna Mamidi, Sandipan Bandyopadhyay,
A modular computational framework for the dynamic analyses of cable-driven parallel robots with different types of actuation, including the effects of inertia, elasticity, and damping of cables,
Robotica, 42 (5): 1-33 (2024),
https://doi.org/10.1017/S026357472400047X.
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Teja Krishna Mamidi, Sandipan Bandyopadhyay,
A Computational Framework for the Dynamic Analyses of Cable-driven Parallel Robots with Feed and Retrieval of Cables,
Mechanism and Machine Theory, 186 (2023),
https://doi.org/10.1016/j.mechmachtheory.2023.105338.
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Teja Krishna Mamidi, Sandipan Bandyopadhyay,
Forward dynamic analyses of cable-driven parallel robots with constant input with applications to their kinetostatic problems,
Mechanism and Machine Theory, 163 (2021),
https://doi.org/10.1016/j.mechmachtheory.2021.104381.
A COMPARATIVE STUDY OF THE CONFIGURATION-SPACE AND ACTUATOR-SPACE FORMULATIONS OF THE LAGRANGIAN DYNAMICS OF PARALLEL MANIPULATORS AND THE EFFECTS OF KINEMATIC SINGULARITIES ON THESE
July 2018
The configuration-space and the actuator-space variants of the Lagrangian formulation of dynamics of parallel manipulators are studied. In particular, the effects of the gain-type singularity and the configuration-space singularity on the forward and inverse dynamic analyses using these formulations are studied in detail. A condition for kinematic consistency at a gain-type singularity is established. The formulations are implemented on a planar five-bar manipulator and a bi-planar Stewart platform manipulator. Extensive numerical simulations augment the analytical developments in the understanding of the dynamic behaviour of the manipulators, in both the singular and the non-singular cases.
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Vimalesh Muralidharan, Teja Krishna Mamidi, Shivani Guptasarma, Anirban Nag, Sandipan Bandyopadhyay,
A comparative study of the configuration-space and actuator-space formulations of the Lagrangian dynamics of parallel manipulators and the effects of kinematic singularities on these,
Mechanism and Machine Theory, 130 (2018), pp. 403--434,
https://doi.org/10.1016/j.mechmachtheory.2018.07.009.
KINEMATIC ANALYSIS OF THE SPATIAL 3-RPS PARALLEL MANIPULATOR
MS research work
[July 2015 - January 2018]
The kinematic analysis of the 3-RPS manipulator was rendered equivalent to studying the intersection of a pair of planar quad-circular octic curves with a circle. Each of these curves is the constraint variety of the kinematic sub-chains obtained by hypothetically decomposing the manipulator at one of its spherical joints. Forward (direct) kinematics, type II (gain-type) singularity, and finite self-motions of the manipulator were investigated from the geometry of these constraint varieties. The obtained results were compared with the previous ones using the concepts of algebraic geometry and the open issues were identified.
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Teja Krishna Mamidi, Aravind Baskar, Sandipan Bandyopadhyay,
A Novel Geometric Analysis of the Kinematics of the 3-RPS Manipulator,
In: Zeghloul S., Romdhane L., Laribi M. (eds) Computational Kinematics, Mechanisms and Machine Science, vol 50, 2018, Springer, Cham,
https://doi.org/10.1007/978-3-319-60867-9_55.Teja Krishna Mamidi, Aravind Baskar, Sandipan Bandyopadhyay,
Kinematic analysis of the 3-RPS manipulator using the geometry of plane curves,
In: Proceedings of the AzC-IFToMM International Symposium of Mechanism and Machine Science (ISMMS 2017), September 11-14, 2017, Baku, Azerbaijan,
Conference proceedings.
FABRICATION OF A HUMANOID ROBOT AND IMPLEMENTATION OF GAITS
BTech projectÂ
(September 2014 - May 2015)
A mini-humanoid robot was modelled based on the human skeletal dimensions. It was analysed using Pro/ENGINEER to determine the angular positions and torques required at the joints while executing a gait. The robot was manufactured based on these observations, and desired gaits were implemented on it.
Secured the first position for this innovative design in TECKZITE 2015, a techno-management fest organised annually by RGUKT Nuzvid.
CONTROL OF IIT KGP HUMANOID USING ROBOTIC OPERATING SYSTEM
Internship project
[May 2014Â --Â July 2014]
The primary objective was to synchronise the humanoid motion with that of a human using ROS as an interface. Upon testing various gaits on the humanoid, in future, the robot is expected to select/generate its own gait according to the required task and the environment.
MOBILE HYBRID ROBOT
Kshitij 2014 - Annual techno-management fest of IIT Kharagpur
A manually controlled mobile vehicle was built to integrate the functions of a crane and an excavator with an additional feature for lifting its chassis.
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Out of 13 teams selected for the ASME SDE (Science Design Exhibition) contest, we secured 3rd place for which we were given 8000 (INR) cheque with certification.
For more examples of my work, don’t hesitate to reach out.
"Nobody wants to fail, and yet we all do. Don’t be afraid of failure. It is part of the price you pay for action; there’s no need to sweep it under the rug and pretend it does not exist. The most liberating way to acknowledge failure is to celebrate it."
Bernard Roth
LET’S CONNECT
Human-centered Robotics Lab, AB-05, 213,
Indian Institute of Technology Gandhinagar,
Gujarat 382355.