Dr. Raj Chhabra is a distinguished researcher and educator specializing in robotics and control systems. His expertise, particularly in the geometric dynamics and control of multibody systems, is evident through a rich academic and professional journey. As a faculty member at Carleton University, he actively mentors students, contributing significantly to the field of space robotics.
Author Metrics:
Dr. Chhabra’s research impact is evident through robust author metrics, including multiple papers published and under review in esteemed journals. The citations and engagement with the academic community underscore the significance of his work in the field.
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Google Scholar Profile
- Citations:
- Total Citations: 321
- Citations in the last index: 226
- h-index:
- i10-index:
These metrics reflect the impact and influence of Dr. Chhabra’s scholarly work. The h-index of 9 indicates that there are 9 papers that have each been cited at least 9 times, demonstrating a significant and lasting impact in the academic community. The i10-index of 9 signifies that Dr. Chhabra has 9 publications with at least 10 citations each. These metrics collectively showcase the recognition and reach of his contributions within the research community.
Education:
Dr. Chhabra holds a Ph.D. in Robotics and Control from Carleton University, providing him with a robust foundation for addressing intricate challenges in the realm of robotics.
Research Focus:
His research primarily centers around the geometric dynamics and control of multibody systems, emphasizing applications in space robotics. Dr. Chhabra explores innovative formulations to address complex interactions and dynamics inherent in these systems.
Professional Journey:
After completing his Ph.D., Dr. Chhabra transitioned into academia, joining Carleton University as a faculty member. His professional journey has been marked by active involvement in research, mentorship, and teaching, along with industry engagement through mentorship programs at MDA Robotics.
Honors & Awards:
Dr. Chhabra’s contributions have been recognized with nominations for the University Medal and various awards, highlighting his outstanding research and mentorship in the academic community.
Publications Top Noted & Contributions:
With a prolific publication record, Dr. Chhabra has authored numerous research papers in reputable journals. His work spans topics such as singularity-free dynamics, nonlinear control, and geometric formulations for multibody systems, contributing significantly to the advancement of knowledge in robotics.
- Objective:
- Develop a fast, recursive, and parameterization-free formulation for the dynamics of soft robots.
- Model these systems as multi-body systems consisting of both rigid and flexible bodies connected with discrete joints.
- Methodology:
- Combine the recursive NewtonāEuler equation for rigid bodies with Partial Differential Equations (PDEs) on the Special Euclidean group SE(3) to model dynamic Cosserat rods.
- Utilize the proposed inverse dynamics to recursively determine the system’s response and joint torques, given a joint-space trajectory.
- Employ forward dynamics to determine the system’s motion, taking into account known joint torques and external forces.
- Challenges and Solutions:
- Address the challenges introduced by the inclusion of flexible bodies, requiring the solution of a coupled set of PDEs with separated Boundary Conditions (BCs).
- Develop a shooting-method-based BC solver to consolidate BCs into one point.
- Implement a numerical framework based on a finite difference method to spatially integrate these equations using a geometrically exact integrator on SE(3).
- Implementation:
- Implement the proposed algorithms into a software library named SimUlator for RigidāFlexible Robots (SuRFR).
- Application:
- Study the response of a manipulator with a soft gripper using SuRFR.
- Reference:
“On the guidance, navigation and control of in-orbit space robotic missions: A survey and prospective vision” (2021)
Authors: B.M. Moghaddam, R. Chhabra
Journal: Acta Astronautica (Volume 184, Pages 70-100)
This survey paper comprehensively addresses the guidance, navigation, and control aspects of in-orbit space robotic missions, offering valuable insights and a forward-looking vision.
“Holistic system modeling in mechatronics” (2011)
Authors: R. Chhabra, M.R. Emami
Journal: Mechatronics (Volume 21, Issue 1, Pages 166-175)
Dr. Chhabra, along with co-author M.R. Emami, contributes to mechatronics by presenting a holistic system modeling approach, demonstrating the interdisciplinary nature of this field.
“A generalized exponential formula for forward and differential kinematics of open-chain multi-body systems” (2014)
Authors: R. Chhabra, M.R. Emami
Journal: Mechanism and Machine Theory (Volume 73, Pages 61-75)
This paper introduces a generalized exponential formula, authored by Dr. Chhabra and M.R. Emami, addressing forward and differential kinematics in open-chain multi-body systems.
“A holistic concurrent design approach to robotics using hardware-in-the-loop simulation” (2013)
Authors: R. Chhabra, M.R. Emami
Journal: Mechatronics (Volume 23, Issue 3, Pages 335-345)
Dr. Chhabra contributes to the field of robotics with a holistic concurrent design approach, leveraging hardware-in-the-loop simulation for efficient system development.
“A mission architecture for on-orbit servicing industrialization” (2021)
Authors: P. Rousso, S. Samsam, R. Chhabra
Conference: 2021 IEEE Aerospace Conference (Pages 1-14)
Dr. Chhabra collaborates on a mission architecture paper for on-orbit servicing industrialization, presented at the IEEE Aerospace Conference, showcasing practical applications of his research.
Research Timeline:
Dr. Chhabra’s research journey has evolved from foundational exploration during his Ph.D. to leading diverse projects as a faculty member. The timeline reflects his progression in addressing real-world challenges in space robotics.
Conference Participation:
Actively engaging in conferences, Dr. Chhabra presents his research findings and stays connected with the scientific community. These conferences serve as crucial platforms for exchanging ideas and staying updated on the latest developments in robotics and control systems.
