Internship (Industry)

Report
By
Hrushikesh Ajit Chavan
201103003

Department of Mechanical Engineering

The Shirpur Education Society’s

R. C. Patel Institute of Technology , Shirpur - 425405.

[2023-24]
 Internship (Industry) Report
In partial fulfilment of requirements for the degree of
Bachelor of Technology
In
Mechanical Engineering
Submitted By

Hrushikesh Ajit Chavan

201103003

Under the Supervision of

Mr. Prasad Kulkarni
(Industry Mentor – MEPL, Nashik)
Mr. Sunil V. Yeole
(Institute Mentor)

The Shirpur Education Society’s

R. C. Patel Institute of Technology, Shirpur - 425405.
Department of Mechanical Engineering

[2023-24]
 The Shirpur Education Society’s

R. C. Patel Institute of Technology

Shirpur, Dist. Dhule (M.S.)
Department of Mechanical Engineering

CERTIFICATE
This is to certify that an Internship (Industry) Report (Semester-VIII) submitted
by Hrushikesh Ajit Chavan (PRN:201103003) under the supervision of Mr.
Prasad Kulkarni in partial fulfilment of the requirement for the degree of
Bachelor of Technology in Mechanical Engineering of R. C. Patel Institute of
Technology, Shirpur affiliated to Dr. Babasaheb Ambedkar Technological
University, Lonere during the academic year 2023-24.
Date:
Place: Shirpur

Mr. Prasad Kulkarni Mr. Sunil Yeole

Industry Mentor Institute Internship Mentor

Dr. Pandit S. Patil Mr. Pravin L. Sarode

Training & Placement Coordinator Head
Department of Mechanical Engineering Department of Mechanical Engineering
 I would like to thank Mrs. Mansi Nitin Chalke Mam from
Mungi Engineers Pvt. Ltd. Nashik for providing training in
this internship opportunity. I have been greatly benefited by
his training, valuable suggestions, and ideas.

I would like to express my sincere gratitude to our industry

mentor Mr. Prasad Kulkarni for time-to-time guidance for
work related learning and guidance.

I would like to express my sincere gratitude to our industry

guide Mr. Durgesh Kulkarni.

Also, I would like to express my sincere gratitude to our

internship Mentor Prof. Sunil V. Yeole sir and Prof. Dr.
Pandit S. Patil sir for all the successful planning of this
internship and Placement Opportunity.

I am thankful to the Head of Department, Prof. P. L. Sarode

sir, for providing me an internship opportunity at Mungi
Engineers Pvt. Ltd., Nashik.
I am extremely thankful to our Director, Prof. Dr. J. B. Patil
sir for providing all the required support and guidance.

Hrushikesh Ajit Chavan

[PRN:201103003]

Prof. Dr. P. S. Patil Prof. P. L. Sarode Prof. Dr. J. B. Patil

T&P coordinator Head of Department Director
CONTENTS
Abstract…………………………………………………………1

List of Figures…………………………………………………..2

List of Table…………………………………………………….3

Chapters

1. Introduction………………………………………………………….04

2. Product Gallery……………………………………………………...08

3. Safety………………………………………………………………..10

4. Departments…………………………………………………………11

5. Cargo Assembly Line………………………………………………..12

6. Consumable Material………………………………………………..21

7. Spot Data……………………………………………………………22

8. Front Door Line……………………………………………………...31

9. Week Wise Work Sheet………………………………………………36

10. Conclusion…………………………………………………….38

11. Reference……………………………………………………...39
ABSTRACT

Mungi Engineers Pvt Ltd Nashik this company is a Vender Company supply
and manufactures sheet metal components Mahindra and Mahindra Nashik,
Chakan, Kandivali, etc. This company is manufacturing different-different
sheet metal components and small and big parts. This company provides to
100% accuracy for the customer’s requirement and delight them. My
organization is an extremely efficient and quality-focused organization. We
value all our assets & ensure that we use the effectively & maintain them in
immaculate condition. We value human beings working with us & also
associated with us (in all areas) and ensure that all of them are happy &
continuously increase their value. This plant is probably the largest cargo
manufacturing plant in the country today where roll formed panels, pressed
parts and subassemblies are all under one roof. The plant's product portfolio
consists of floors, front doors, back doors, fenders, and load body cargo
production. The semi-automated process boosts the production process in the
Light and Heavy press shop. This is a pressing and assembly unit where we
manufacture door sash, which is the most critical sheet metal part that goes into
assembling a car. It requires top-notch sheet metal roll forming, stretch bending,
welding, and highly skilled metal finishing under close tolerance.

My organization is learning organization.

List of Figures

Fig. 1.1 MEPL, Nashik……………………………………………………………………………….04

Fig. 1.2 Infrastructure………………………………………………………………………………...05
Fig. 1.3 Certificate……………………………………………………………………………………06
Fig. 2 Product Gallery………………………………………………………………………………..08
Fig. 3 Safety Kit……………………………………………………………………………………...10
Fig. 4 Departments…………………………………………………………………………………...11
Fig. 5.1 Cargo Assembly……………………………………………………………………………..12
Fig. 5.2 Non-IT and IT Spot Gun…………………………………………………………………….13
Fig. 5.3 Pictorial Representation of Spot Welding…………………………………………………...13
Fig. 5.4 CO2 Welding Machine……………………………………………………………………….15
Fig. 5.5 Seam Welding……………………………………………………………………………….17
Fig. 5.6 Special Purpose Machine – 12 Head SPM…………………………………………….…….17
Fig. 5.7 Front and Rear Re-spotting 1&2…………………………………………………………….18
Fig. 5.8 Inversion……………………………………………………………………………………..18
Fig. 5.9 Side Panel and Front Panel………………………………………………………………….19
Fig. 5.10 Final Finishing and Inspection……………………………………………………………..19
Fig. 5.11 Ready for Dispatch…………………………………………………………………………20
Fig. 7.1 Poka-Yoke Fixture…………………………………………………………………………...26
Fig. 7.2 Pedestal Welding Machine…………………………………………………………………..28
Fig. 7.3 Pneumatic Sander Machine………………………………………………………………….29
Fig. 7.4 Pneumatic Orbital Machine………………………………………………………………….29
Fig. 8.1 IT Gun……………………………………………………………………………………….31
Fig. 8.2 Non-IT Gun………………………………………………………………………………….31
Fig. 8.3 Process of Projection Welding………………………………………………………………32
Fig. 8.4 Projection Welding Machines……………………………………………………………….32
Fig. 8.5 Poka-Yoke sensors…………………………………………………………………………..33
Fig. 8.6 Sander and Orbital…………………………………………………………………………...34
Fig. 8.7 Pneumatic Tapping Machine………………………………………………………………...34
Fig. 8.8 Clinching Gun and Clinching Tool………………………………………………………….35
Fig. 9.1 Working Time……………………………………………………………………………….37

1
List of Table
Tablse 9.1 Week Wise Work Sheet………………………………………………………….36

2
Chapter 1
Introduction
Since our inception in 1984, we have been manufacturing high quality
engineering products for OEMs. From a modest start with 4 presses, 4 men and
Rs. 4 lacks as our turnover, today we have grown many folds to have achieved a
turnover of over $200 million USD (1500 cores INR). As we march ahead with
time and trust, we look forward to increase our reach and conquer bigger markets
globally.

Fig.1.1 [MEPL, Nashik]

3
Praful Mungi (C.M.D.)
Leadership Team
Santosh Kulkarni (President)
Kirankumar Aher (Sector Head)
Milind Waghode (Chief Operating officer)
Prakash Jaisinghani (Head Business Development Strategy)
Vidita Mungi (Director)
Deepak Kukawalkar (GM HR and Group IR Head)
Sandeep Purkar (Chief Financial Officer)

Infrastructure

Fig. 1.2[Infrastructure]

E2ES - From design inputs, innovative solutions to flexible manufacturing 8

plants located in southern and western India. In-house competency for product &
tool design, tool manufacturing & design validation.

4
Certifications

Fig. 1.3 [Certificate]

BBB: Rating By ICRA

DNB Rating 5A3
VDA 6.3 Qualified

Quality Policy
We at Mungi group are committed to manufacture and supply sheet metal,
machine & fabricated components to meet “customer satisfaction.”
We shall achieve this by following quality management system confirming to
ISO/TS 16949:2002 with emphasis on Improvement in quality by doing right at
the first time through team work and training to employees.
Vision
To be a preferred supplier among domestic and international customers, while
adhering to our core values and helping build and support sustainable
communities.
Mission
We supply world class quality engineering products at a competitive price, by
committing to on time deliveries to domestic and international customers.

5
Core Values

Customer Satisfactions & Respectful Relationships

Responsiveness

Entrepreneurship Integrity

Innovation

6
Chapter 2
Product Gallery

2
Fig. 2 [Product Gallery]

7
8
Chapter 3
Safety

Fig. 3 [Safety Kit]

9
Chapter 4
Departments

Fig. 4 [Departments]

10
Chapter 5
Cargo Assembly Line

Fig. 5.1 [Cargo Assembly]

This is cargo assembly line use in bolero car for the loading purpose. Cargo
transport is mainly for commercial purpose for onboard. It refers to goods or
produce being transported frame one place to another place This line is large line
here total 51 Spot Guns and 15 Co2 machines are use in on line. Total 39 stations
are there in the line.
Mainly there are two processes performed on the line which are as follows:

11
 A. Spot Welding:

Fig. 5.2 [Non-IT and IT Spot Gun]

Fig. 5.3 [Pictorial Representation of Spot Welding]

Spot welding (also known as resistance welding) is a resistance welding process.

This welding process is used primarily for welding two or more metal sheets
together by applying pressure and heat from an electric current to the weld area.
It works by contacting copper alloy electrodes to the sheet surfaces, whereby
pressure and electric current are applied and heat is generated the passage of
current through resistive materials such as low carbon steels. A form of resistance
welding, spot welding is one of the oldest welding processes whereby two or more

12
sheets of metal are welded together without the use of any filler material. The
material melts, fusing the parts together at which point the current is turned off,
pressure from the electrodes is maintained and the molten “nugget” solidifies to
form the joint.

Parameters of Spot Welding:

1. Current = 10-12 KA
2. Force = 400-500 KGF
3. Cycle = 17-20 Cycle

There Are 3 Types of Spot Guns on Line:

1. Non-IT Gun
2. IT Gun
3. Pedestal Machine

B. 𝐂𝐎𝟐 Welding Machine:

In the CO2 welding a gas cylinder is used for the supply of the active gas.
However, it is also possible to weld CO2 by means of a gas filled welding
wire. During welding, a welding wire is fed by means of a welding torch
towards the weld pool of the workpiece to be welded. The welding wire
melts and melts together with the molten pool that is created during
welding. The molten pool is actually the molten metal. Partly created by
the melting of the starting material, the material that is being welded.

13
 Fig. 5.4 [CO2 Welding Machine]

Parameters of 𝐂𝐎𝟐 Welding:

1. Current = 80 - 140 AMP
2. Voltage = 16 - 22 V
3. Gas Flow Rate = 9 - 12 Liter/Minute
4. Wire Feed Rate = 9 - 14 Meter/Minute
5. Wire Diameter = 0.80 mm

14
Line Detailed Study
Line Production Capacity for 12 Hours = 250
Line Production Capacity for 24 Hours = 500
Manpower Requirement on Line 12 Hours = 96
Manpower Requirement on Line 12 Hours = 192

Various Machines Available on Line Are as Follows:

1. Seam Welding machine = 2

2. Special Purpose Machine (SPM) = 7
3. IT-Gun = 32
4. Non-IT Gun = 10
5. CO2 Machine =16
6. Sander Machine = 6
7. Grinder Machine = 6
8. Orbital Machine = 6
9. Nut Runner Machine = 3
10.Tapping Machine = 2

15
Line Process Flow According to Station wise Floor Line:

Fig. 5.5 [Seam Welding]

Fig. 5.6 [Special Purpose Machine – 12 Head SPM]

16
Fig. 5.7 [Front and Rear Re-spotting 1&2]

Fig. 5.8 [Inversion]

17
 Fig. 5.9 [Side Panel and Front Panel]

Fig. 5.10 [Final Finishing & Inspection]

18
Fig. 5.11 [Ready for Dispatch]

19
Chapter 6
Consumables Required on Cargo Line
1. COTTON GLOVES 12”
2. COTTON TAPE 12”
3. TEFLON TAPE
4. SPOT WELD TIP 008
5. SPOT WELD TIP 3228
6. ELECTRODE TIP 1762
7. ELECTRODE 08-234
8. ELECTODE MOV CG 123×50
9. CO2 WELDING WIRE 0.8 MM
10. CONTACT TIP 0.8 MM
11. NOZZLE MB 25AK
12. WELDING GLASS BLCK
13. WELDING WHITE GLASS
14. SANDER WHEEL 60×5
15. CO2 GAS
16. FLAP DISC 125×22

20
Chapter 7
Spot Data
Gun and Machine Wise Required Spots on Cargo:

A. Welding Shop

1. C Type Cross Member

CA/SW/33 = 12
Pedestal 13 =30
SPM/7 =34
Total No. of Spots = 76

2. Cross Member ABD

CA/SW/25 = 6
CA/SW/26 = 8
SPM/03 = 16
Pedestal 68 =22
Total No. of Spots = 52

3. Front Step Down and Rear Step Down

CA/SW/110 = 18
CA/SW/132 = 27+33
Total No. of Spots = 78

21
B. Floor Line
4. Seam Welding
M1 = 31
M2 = 31
M3 = 42
Total No. of Spots = 104

5. Multispot (12+14 Head) SPM = 332

6. HAT Section SPM = 120
7. Re-spotting 1

CA/SW/80 = 16
CA/SW/84 = 16
Total No. of Spots = 32

8. Re-spotting 2
CA/SW/143 = 29
CA/SW/144 = 29
CA/SW/01 = 34
CA/SW/04 = 34
Total No. of Spots = 126

9. Inversion

CA/SW/38 = 29
CA/SW/130 = 33
CA/SW/10 = 20
CA/SW/11 = 24
Total No. of Spots = 106

22
C. Front Panel

10.Front Panel Tacking

CA/SW/21 = 26

11.Front Panel Hat section Tacking

CA/SW/09 = 64

12.Front Panel J Spotting

CA/SW/113 = 24
Total No. of Spots = 114

D. Tail Gate Panel

13.End closer Tacking

CA/SW/29 = 30
CA/SW/86 = 10
14.Hat section Tacking and Re-spotting
CA/SW/39 = 56
CA/SW/LH/01 =38

15.Tail Gate J Spotting

CA/SW/91 = 52
Total No. of Spots = 186

23
 E. Side Panel

16.Side Panel to Nut Plate + End closer Tacking

CA/SW/27 = 20
CA/SW/79 = 20

17.Side Panel Hat section Tacking

CA/SW/07 =29
CA/SW/08 =29
CA/SW/31 = 34
CA/SW/78 =34

18.Side Panel Re-spotting 1 And 2

CA/SW/137&28 =38
CA/SW/136&30 =38
CA/SW/34&05 = 79
CA/SW/19&02 =78
19.Lashing Hook Spotting
CA/SW/03 = 10
CA/SW/02 = 8
Total no of spot = 330

Total spot as per model /vehicle (without assembly) = 2180

Total spot as per model /vehicle (with assembly) = 2244
Total co2 welding run on floor assembly = 1090mm
Total no of fixture on cargo line = 39 fixture
Total poka-yoke fixture on cargo line = 13

Some Poka-Yoke Fixtures on Cargo Line Are as Follows:

24
 Fig. 7.1 [Poka-Yoke Fixture]

POKA-YOKE fixture has master sample part this part is given to pink colour.
And, we have to check the fixture it is ok or not ok. On the fixture part will check
and some part to be checked by using some sensors to detect the part position or
missing part. Poke- yoke is one of the Japanese word this sensor is avoid the
human error of working time. They are providing one indicator box for mention
the fig. this box indicates the sensor is working or not. Poka-yoke means “avoid
the unexpected surprises” essentially a poka-yoke is a safe guard the prevents a
process frame proceeding to the next step until the proper condition have been
met. Poka-Yoke is a lean manufacturing tool that refers to “mistake proofing” or
“error- proofing” a process.

25
Following are Total Poka-Yoke Fixture on Cargo Line:
1) MB/FB/08: (Cross Member Tacking and Re-spotting)
Provide the buzzer for detection of cross member m6 nut missing.
2) MB/FB/F/O7: (Front and Rear Tacking)
To detect component of hole position.
3) MB/FB/F/14: (Front Panel Spotting)
To detect the nut plate missing on the fixture.
4) MB/FB/37: (Side Panel Tacking)
To detect current hole position and nut plate missing.
5) MB/FB/04: (Tail Gate Re-spotting 1&2)
To detect hat section wrong position on tail gate.
6) MB/FB/F/37A: (Side Panel Welding &Finishing)
Encloser nut plate missing LH & RH and also wrong position of
encloser.
7) MB/FB/02: (Side Panel Tacking)
To avoid wrong z section
8) MB/FB/05: (Side Panel Tacking)
To avoid the wrong position of the part
9) MB/FB/F/12: (Tail Gate Fitting)
To avoid assembly of kit lock rod.
10) MB/FB/F/16: (Hat Section Tacking)
To avoid shifting of skid bracket position.
11) MB/FB/F/18: (Front & Rear Tacking)
To avoid shifting of skid bracket position.
12) MB/MPV/05: (Hat Section Tacking)
To detect the wrong cross member.
13) MB/FB/F075/34: (Floor & Side Sill Spotting)
To detect the mud flap nut plate, to ensure of side sill spotting.

26
 Fig. 7.2 [Pedestal Welding Machine]

This a pedestal welding this machine used in small parts welding for using
machine. Two pieces are welded together due to the pressure exerted by the two
electrodes which are connected to the lower and upper arms, where the upper arm
is movable and the lower arm is stationary.
The electrode is fitted in electrode holder and electrode is fitted to the upper arm
with cotton tape insulation. The upper arm is connected to pedal by means of
connecting rod the spring connected to the connecting rod so that is makes the
upper arm to move up and down. In this machine we have to small part or child
part welding on the large part means in short to say that to main part and child
part with assemble part to joint and welding together. In this welding machine
does not use to any filler material.

27
 Fig.7.3 [Pneumatic Sander Machine]

Fig.7.4 [Pneumatic Orbital Machine]

This line also used in sander machine for finishing purpose and also using the
orbital machine for the shining purpose.

28
This is a Pneumatic sander machine using the air pressure. Sander machine
purpose is finishing the product and part.
Wheel Dimension- 60×4” or 60×5”
Sander machine RPM is between 8000 to 11000 (rpm is depend on pressure
range.) This a Pneumatic orbital machine using the air pressure. Orbital machine
purpose in shining the product or part. Also used in pneumatic sender machine
for purpose is finishing and remove the spot burr. Sander wheel diameter is 60×4”
& 60×5”
Also used in Pneumatic orbital machine for purpose is clear finishing and shining
for.
Orbital wheel diameter is 80×5”
Wheel Dimension – 60×5”
Orbital machine rpm is 8000 to 10000 (rpm depend on pressure range.)
On the line orbital and sander machine also use the purpose of finishing scratches
on the part and also spatters on the parts are also finishing the buffing marks.by
using the sander machine and orbital machine on line to finishing the part and
makes the quality part.

29
Chapter 8
Front Door Line
Front door is the project of manufacturing driver side and co-driver side doors of
Mahindra Bolero. There is total 10 models of doors.
In this line there are 3 CO2 welding machines, 5 spot welding guns in which 1
Spot gun is IT and 4 guns are Non-IT.

Fig. 8.1 [IT Gun]

Fig. 8.2 [Non-IT Gun]

30
There are 3 Projection welding machines in front door line. This is use for welding
the M6 nut to panels and fixing of hinge to lid cover of fuel tank of Mahindra
Bolero.

Fig. 8.3 [Process of Projection Welding]

Fig. 8.4 [Projection Welding Machines]

31
Poka-Yoke
There are total 5 Poka-Yoke in front door line. Two Poka-Yoke are at Stage-II
which is given for detection of missing nut plate, missing slot and piercing hole
and channel shift with gun interlock. One Poka-Yoke is given at Stage-IV for
avoiding wrong assembly of inner and outer panel. Two Poka-Yoke are given at
Stage-V which is clinching stage. Among two Poka-Yoke one is for avoiding bad
clinching. The guns used for clinching is pneumatic control. So, when the air
pressure is less than 5 kg/cm2 then the lights in the clinching room are turned off
automatically. So, the operator can come to know that the air pressure is reduced
and due to this clinching will not be done properly and they stop working
immediately. Another Poka-Yoke is for cleaning for clinching block. So, after
every 15 jobs the alarm sounds and operator clean the clinching block.

Fig. 8.5 [Poka-Yoke sensors]

32
Deburring
In this stage the burr is removed on outer and inner panel. During the processes
in press shop the burr is present on the edges of panels. This burr is removed by
using pneumatic sanders, pneumatic orbiters, electric orbiters.

Fig. 8.6 [Sander and Orbiter]

Tapping
Tapping is done in finishing stage. It is done for removing burr in internal
threads of nuts. The machine which is used for tapping is pneumatic.

Fig. 8.7 [Pneumatic Tapping Machine]

33
Clinching
In this stage the inner panel is fixed with outer panel by pressing the flange of
outer panel on inner panel. This is done by pneumatic clinching gun.

Fig. 8.8 [Clinching Gun and Clinching Tool]

34
Chapter 9
Week Wise Work Sheet

Weak Work Time

First day all student visits the company
and observation for all department and
work. Next day clear the all-document
Weak 1 8:30 to 5:00
formality for HR department. Then
introduction for safety and introduction
for all company related information.
Then start induction training for
company related and all department and
shear the all-department work and what
total department in company how to
Weak 2 work for all department. Then shear the 8:30 to 5:00
one-by-one line information how many
types machine used for line. Then after
induction training allowed the line for
all student my first line is rear floor line.
Frist my line I am only observation how
to work and what is the line flow what
the staring position for line. Which types
Weak 3 8:30 to 5:00
of machines used in this line I am all
understanding for this week. What are
total parts using this line.
Learn to take review of line supervisor
Weak 4 on daily basis and understand DWM 8:30 to 5:00
requirements.
To monitor daily production as per plan
Weak 5 8:30 to 5:00
with respect to customer requirement.
To learn to have proper and clear
Weak 6 8:30 to 5:00
communication within department.
To attend daily morning meeting and
learn to initiate action with proper cause
Weak 7 analysis to take lessons from daily 8:30 to 5:00
rework/ repair/ rejection/ and its analysis
through quality tools.

35
 To monitor and maintain safety – PPE
Weak 8 8:30 to 5:00
zero accident on the shop floor.
To have knowledge of station wise
Weak 9 8:30 to 5:00
spots, Co2 welding of product.
To learn preventive maintenance of
Weak 10 machine and fixture. To understand 7:00 to 3:30
cycle time of operation on line.
Learn to maintain system and process
requirement through. 1- Poka-yoke
Weak 11 7:00 to 3:30
Sensor. 2- Contingency Plan. 3- Process
Validation.
To ensure knowledge of Control Plan,
Weak 12 7:00 to 3:30
SOP

Table 9.1 [Week Wise Work Sheet]

Fig. 9.1 [Working Time]

36
Chapter 10
Conclusion

All production lines understand and how to be manufacturing rear floor,

back door, all customer requirement parts. I am also observed and tried. How to
handle the line and how to face situations for critical line manpower handling.
Then achieve a target for daily production. Understand for all line important
documents and hoe to fill the all documents after the shift over. Which types of
raw material used for manufacturing in the company and which company provide
raw material. Then which types of machines used for the manufacturing in the
company, and which position they are most important for parts manufacture. Then
understand the system of processor (SOP) and control plan (CP), These 2
documents are most important for this company. The company is well developed
and good for training to new apprentice. The facilities of company are good.
The company is well known for his low-cost products with good quality. In
future company has planned to start more plants. The motive of company is to
build the good society.

37
Chapter 11
References

1] Puschner, P., Kölzer, G., Geisler, F. Neuartige Schweißsystem für eine flexible
Fertigung. Tagungsband 21. DVS-Sondertagung "Widerstandsschweißen 2010";
2010 May 05-06

2] Mikno et al. describe a new control system and the results of its operation,
particularly visible in projection welding. Mikno et al. present a new control
system used during the welding of sheets with an embossed projection.

3] Deen, M.J., & Basu, P.K. (2012). Silicon Photonics: Fundamentals and
Devices.

4] Moses, M., Yamaguchi, H., & Chirikjian, G.S. (2009). Towards cyclic
fabrication systems for modular robotics and rapid manufacturing. Robotics:
Science and Systems.

5] Aguilar, J., Zhang, T., Qian, F., Kingsbury, M., McInroe, B., Mazouchova, N.,
Li, C., Maladen, R.D., Gong, C., Travers, M.J., Hatton, R.L., Choset, H.,
Umbanhowar, P., & Goldman, D.I. (2016). A review on locomotion robophysics:
the study of movement at the intersection of robotics, soft matter and dynamical
systems. Reports on progress in physics. Physical Society

38