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Photo of Bhounsule, Pranav

Pranav Bhounsule, PhD

Assistant Professor

Department of Mechanical and Industrial Engineering


Building & Room:

2033 ERF


842 W. Taylor Street, Chicago, Illinois 60607

Office Phone:

(312) 355-8991


Research Interests:

Legged locomotion
Optimal Control

Selected Publications

  1. E. Ameperosa, P. A. Bhounsule, Domain randomization for detection and position estimation of multiples of a single object with applications to localizing bolts on structures, ASME-International Design Engineering & Technical Conference, Anaheim, CA, USA, Aug 18–21, 2019.
  2. A. Zamani and J. Galloway II, P. A. Bhounsule, Feedback motion planning of legged robots by composing orbital Lyapunov functions using rapidly-exploring random trees, IEEE Conference on Robotics and Automation, Montreal, Canada, May 20-24, 2019.
  3. C. L. Trevino*, J. D. Galloway II^, P. A. Bhounsule, A Three-Dimensional Printed, Non-Assembly, Passive Dynamic Walking Toy: Design and Analysis, Journal of Mechanisms and Robotics, doi:10.1115/1.4040634, 2018.
  4. J. Krause, P A. Bhounsule, A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control, Actuators 7(2), 24, 2018.
  5. P. A. Bhounsule, Control based on passive dynamic walking, Bioinspired Legged Locomotion: Models, Concepts, Control and Applications, 1st edition, Editors: Maziar Sharbafi and Andre Seyfarth. Publisher: Elsevier, Butterworth-Heinemann, 2017, ISBN. 9780128037744.
  6. P. A. Bhounsule and A Zamani*, A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker, ASME Journal of Mechanism and Robotics Vol 9, No 5, 2017.
  7. P. A. Bhounsule, K.Yamane. Accurate Task-Space Tracking for Humanoids with Modeling Errors using Iterative Learning Control. Intl. Journal of Humanoid Robots, Vol. 14, No. 3 (2017) 1750015 DOI: 10.1142/S0219843617500153.
  8. P. A. Bhounsule, A. Ruina, G. Steissberg. Discrete Decision Continuous Actuation control: balance of an inverted pendulum and pumping a pendulum swing. ASME J. Dyn. Sys., Meas., Control 137(5), 051012, 2015.
  9. P. A.Bhounsule “Control of a compass gait walker based on energy regulation using ankle push-off and foot placement.” Robotica 33.6 (2015): 1314-1324.
  10. P. A. Bhounsule, J. Cortell, A.Grewal, B. Hendriksen, J.G.D. Karssen, C. Paul, A. Ruina. Low-bandwidth reflex-based control for lower power walking: 65 km on a single battery charge. International Journal of Robotics Research, vol.33 no.10, 1305-1321, 2014.


Ph.D., Mechanical Engineering
Cornell University, 2012

M. Tech., Applied Mechanics
Indian Institute of Technology Madras, India, 2006

B.E., Mechanical Engineering
Goa College of Engineering, India, 2004