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Towards Stability Without Jerk

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Dr. Gaurav Bhardwaj

Hello Everyone. I am a researcher currently working as Managing Director and CEO of PaiByTwo Private Limited. I have completed my Ph.D. from the Computer Science and Engineering Department under the supervision of Prof. R. Balasubramanian and Prof. N. Sukavanam at Indian Institute of Technology, Roorkee. I have done B.Tech from J.C. Bose University of Science and Technology, YMCA Faridabad (2013) and M.Tech from IIIT Allahabad (2017) under guidance of Prof. Sudip Sanyal.


  1. Gaurav Bhardwaj, N. Sukavanam, Ruchi Panwar and R. Balasubramanian, “An Unsupervised Neural Network Approach for Inverse Kinematics Solution of Manipulator following Kalman Filter based Trajectory”, IEEE Conference on Information and Communication Technology(CICT), December’19

  2. Bhardwaj, G., et al. "Planning Adaptive Brachistochrone and Circular Arc Hip Trajectory for a Toe-Foot Bipedal Robot going Downstairs." Journal of Physics: Conference Series. Vol. 1831. No. 1. IOP Publishing, 2021.

  3. Bhardwaj, Gaurav, et al. "Cycloidal Trajectory Realization on Staircase with Optimal Trajectory Tracking Control based on Neural Network Temporal Quantized Lagrange Dynamics (NNTQLD)." arXiv preprint arXiv:2012.01417 (2020).

  4. Gaurav Bhardwaj, Utkarsh A. Mishra, N. Sukavanam Balasubramanian Raman, Neural Network Temporal Quantized Lagrange Dynamics with Cycloidal Trajectory for a Toe-Foot Bipedal
    Robot to climb stairs, Accepted for publication in Applied Intelligence (Springer), 2022.

  5. Gaurav Bhardwaj, N. Sukavanam and Balasubramanian Raman, Fast Terminal Discrete-Time
    Sliding Mode Control with Fuzzy based Impedance Modulation for Toe Foot Bipedal Robot going
    Upstairs, Accepted for publication in International Journal of Control, Automation and Systems
    (Springer), 2022.

  6. Gaurav Bhardwaj, Soham Dasgupta, N. Sukavanam Balasubramanian Raman, DDPG based Control for a Flat-Foot Biped Robot motion on Deformable Soil, Presented in International Conference on Dynamical Systems, Control and their Applications (ICDSCA), July 1-3, 2022.



  1. Legged Robots

  2. Reinforcement Learning

  3. Deep Learning

  4. Control Theory

  5. Artificial Intelligence

  6. Computational Geometry

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