Robots

ASYSTR Cobots

June 2020 - June 2021

  • Modernized System Architecture by executing a move to ARMv8 based System Controller; assisted in identifying platform by performing performance tests; developed using ROS2 framework increasing modularity and extensibility

  • Optimized Linux preempt-rt kernel-based OS for System-Level Controller achieving a latency of less than 10uS

  • Established a streamlined development/deployment pipeline based on git, docker, and apt enabling reliable over-the-air updates and improving operational efficiency

  • Conceptualized object-oriented architecture for Dual Motor Controller firmware, utilizing FreeRTOS to guarantee real-time performance, resulting in portable and safety-critical code

  • http://www.systemantics.com/products/

ReQuBiS

Dec 2019 - March 2020

  • Conceptualized the overall design

  • Mentored a team IvLabs, Visveswaraya National Institute of Technology, Nagpur to execute the project

  • Publish in the IEEE - CASE'21 conference: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9551526

HEBI

July 2019 - March 2020

  • Designed a 6-DoF Robotic Arm based on Hebi Actuator capable of using chopsticks to manipulate food

  • Implemented Gravity compensation for smooth motion

  • Implemented smooth Cartesian Motion using impedence control of end effector

  • Created a pipeline for teleoperation using mocap markers

  • Created a pipeline for recording and repeating trajectories generated by teleoperation

  • Published in IROS 2020: https://arxiv.org/pdf/2008.00101.pdf

ROMAN

April 2016 - Present

  • Worked on mobile manipulation platform RoMan as a part of the Robotic Collaborative Technical Alliance (RCTA); a multi-university effort headed by Army Research Lab for effective man-machine collaboration

  • Closely worked with Jet Propulsion Lab, UPenn, CMU Army Research Lab and General Dynamics

  • Implemented a pipeline to grasp and clear unstructured debris using prehensile manipulation

  • Designed and implemented algorithm to select the top most item from a pile of debris

  • Implemented a pipeline to calibrate RoboSimian Limb with Camera mounted on Roman using mechanical features on the limb

  • Implemented motion planning library for Roman using Personal Robotics Lab's Aikido Stack in C++

ASYSTR600/400

September 2014 - March 2018

  • Designed and Developed PCBs for motherboard, motor controller and other electronics components in KiCAD. Designed internal harness in ProEngineer for Asystr400 and Asystr600.

  • Developed a propriety programming environment using Abstract Syntax Trees to create an intuitive teaching interface for the end user

  • Developed real-time firmware capable of Field Oriented Control of Motors

  • Designed Wifi addon board for optional Internet of Things support.

  • Helped in developing screw driving and soldering application for Asystr400 as a sales asset


REBIS

June 2013 - September 2014

  • Designed 9DoF Novel Snake Robot Capable of Bipedal Motion using Dynamixel Servos

  • Designed electronics to interface Servos with Linux PC

  • Designed and developed a Gait for reconfiguration without rearrangement

  • Developed a novel walking gait which ensures greater stability in the lateral direction

  • Developed an algorithm to generate walking gait such that the center of mass only moves when both the feet are on the ground using Genetic Algorithms

  • Applied the above algorithm to generate a head-look gait

OSMOS

June 2015 - March 2016

  • Worked on designing the initial prototype

  • Actively supported the core design team with electronics

PROSTHETIC HAND

July 2015 - September 2015

  • Designed the sensor and actuation scheme for a low cost prosthetic hand

  • Worked on generating different grasping strategies based on the reading from the IR sensors on the tip of the fingers

SWAYAT

July 2013 - Present

  • Designed the Electronics and software Architecture for a 20 DoF Humanoid Robot

  • Currently, mentoring a team of juniors who are taking the project further