Biorobotics Lab, June, 2022
The NSF Surfside project aimed at using the data from Champlain Towers South Condominium collapse at Surfside, Florida on June 2021 for developing method to reconstruct 3d point clouds of the disaster site and developing a method for void detection in these regions which have high changes of concealing a survivor. The project was supported by NSF USA and was lead by Prof Robin Murphy and Prof Howie Choset.
Biorobotics Lab, June, 2022
On Orbit Manipulation aimed at using robot arms for peforming MEV docking on the client side in geostationary orbit. The project was sponsored by Northrop Grumman USA and was lead by Dr. Beau Pollard and Prof Howie Choset.
Biorobotics Lab, June, 2022
Project VeRT aimed at finding research gaps and the challenges in rapid transport of heavy payloads and create a plan to address these challenges. The project was supported by DARPA USA and was lead by Dr. Beau Pollard and Prof Howie Choset.
Mentored by Dr. Amit Setia, August, 2021
The aim of this project was to explore the application of various Optimal Control techniques for tasks such as trajectory planning and obstacle avoidance in robotics. We first did literature reading of pseudospectral transcription method for solving optimal control problems. We started with testing our method with simple optimization problems like Bryson-Denham and Toy Problem.
Mentored by Dr. Rakesh Warier, August, 2021
The project aimed at understanding the implementation of Model Predictive Control on robotic systems like 2D manipulator and comparing its peformance with other controllers. Since 2D robot arm is non linear system, we used the technique of feedback linearization to avoid high computation and complexity due to non-linear MPC.
The Electronics and Robotics Club, June, 2021
Trotbot is a multipurpose robot, designed to serve autonomously in indoor environment. It can be used as follows: To deliver packages from one location to another in offices, construction sites etc. It can also be teleoperated to nearby locations using the camera feed.
The Electronics and Robotics Club, June, 2020
Gennav aims to create a general purpose python library that can be used for path planning in various robotics settings. It will have a collection of path planning algorithms, motion controllers along with various utilities to handle different methods of path optimisation, environment representation and eventually a geometry module to handle the underlying computations.
The Electronics and Robotics Club, Feburary, 2020
Project SpiderBot started in Feb 2020, is a hexapod with six independent legs, each with three degrees of freedom. One advantage of legged robots is that it can climb over obstacles larger than itself. Hexapod walking robots also benefit from a lower impact on the terrain and have greater mobility in surroundings.