Projects
Sewing Robot
Automating the sewing industry using an UR5 robot. Developing the software pipeline to automate the stitching process from estimating the garments pose to stitching them using sewing machine. Building prototypes to fold clothes and stitch multiple clothes together. Currently working on this project as an intern in SIEMENS and in close collaboration with a startup called SEWBO.
Intelligent Robot Assistant(IRA)
IRA was India's first humanoid robot which was deployed in HDFC bank, India for customer service. IRA can detect customers entering the bank and can interact with them through a touch screen. It can also give various information about the bank to customers and can guide the customers by taking them to various counters in the bank by autonomously navigating the bank environment. This project was developed during the period when I was working in ASIMOV robotics.
View ProjectWithin Hand manipulation using Variable friction finger gripper
Developed a hybrid planning method integrating offline motion planning with online visual servoing to perform within hand manipulation of objects using variable friction finger gripper. Evaluated the performance of the system with inaccuracies in the modelling of the system and uncertainities in the motion of the object. Submitted the work in ICRA 2020 which is under review. Currently developing a reinforcement learning based algorithm to manipulate objects without the need for explicit modelling.
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Sayabot-A Service robot
Sayabot is a service robot that was designed to work seamlessly alogside humans with capablities like autonomous navigation, natural language processing and face recognition.It was designed to work on wide array of places such as hospitals, airports,banks, hotels, corporate offices, hotels, retails store. This project was developed during the period when I was working in ASIMOV robotics.
View ProjectCraniobot
This project was funded by Biotechnology Industry Research Assistance Council (BIRAC). The aim of the project was to develop a minimally invasive robotic surgery system that can do craniofacial surgery. For the initial research phase, the prototype was developed in a 10x bigger version. And I was involved in developing the ROS based software architecture system for the prototype using Moveit Interface. This project was developed during the period when I was working in ASIMOV robotics.
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Remote manipulator control
The aim of the project was to develop an teleoperating interface for a 6DOF manipulator. I was involved in developing the motor drivers and controllers in ROS. And also developed the Moveit interface for the manipulator to solve the constrained motion planning problem. This project was developed during the period when I was working in ASIMOV robotics.
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Comparsion of trajectory tracking controllers using UR5 robot
The aim of the project was to compare the performance of the various trajectory tracking controllers such as Inverse dynamic controller, Robust feedback linearization controller and Passivity based controller under different scenarios. All these controllers where developed in Matlab and were tested on a UR5 manipulator with a benchmark trajectory dataset. This project was done as a course project for Robot controls subject.
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EKF based localization for mobile robot
The aim of the project was to implement the Extended Kalman Filter based localization for a mobile robot from scratch, to better understand the mathematical principles behind the algorithm. We developed a virtual environment in Gazebo with landmarks. Then we extracted the position of landmarks in the environment by processing the data from the 2D lidar fixed on the mobile robot. Developed the motion model and the observation model for the mobile robot in C++. Finally, we were able to estimate the position of the robot in the environment using the EKF algorithm. This project was done as a course project for Advanced robot navigation subject.
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