Biography:
From my undergraduate days, the world of robotics has captivated me. It all began as a member of IvLabs, where I delved into this exciting field under the mentorship of Prof. Shital Chiddarwar. Currently, my focus is on developing Learning-based Dynamics and Optimal Control algorithms for legged robots—an endeavor that continuously ignites my passion for innovation. Amidst this journey, I'm pursuing my Master's degree in Cyber-Physical Systems at the renowned Indian Institute of Science, Bangalore. Here, under the expert guidance of Prof. Shishir NY, I'm exploring the endless possibilities this field offers
Experience
Non-Prehensile Manipulation
Under Prof. Nagamanikandan G., International Institute of Information Technology, Hyderabad.
Striking an object to a desired pose using Trajectory Optimization
Pushing multiple objects to the respective desired position and orientation.
Using a single-point end-effector
Designing a two-finger gripper using linear actuators and having independent motion
Control and Design of Quadruped robot
Under Prof. Sam Zachariah, Indian Institute of Space Science and Technology.
Worked on Hybrid Dynamics based controller to produce dynamic walking gait for Quadruped.
Produced an animation from a Matlab program of quadruped dropping from a certain height.
PixGuide
Under Prof. Shital Chiddarwar, IvLabs, Visvesvaraya National Institute of Technology, Nagpur.
The main motive of this device is to help the two-wheelers navigate without having to use different applications or mounting their mobile phones or other expensive machines on the vehicle.
Projects
Course Projects
Combining RL and MPC for Biped walking
Course: Robot Learning and Control
Model Predictive Control for UGVs in unknown environments using waypoint generation
Course: Foundation of Robotics
Collision Cone Control Barrier Function for obstacle avoidance in UAVs
Course: Formal Control
Visual learning and optimal control for local navigation
Course: AI for Engineers
Research Projects
QHuMuS - Reconfigurable Robots
Designed a novel reconfigurable robotic system that without any rearrangement, transitions into different mobility modes of a serpentine, a wheeled-quadruped and a humanoid
Developed a control framework for serpentine gaits like lateral undulation, linear progression, side winding and rolling, and wheeled quadruped walking gaits
Gait and trajectory optimization for bipeds
Implemented trajectory optimization on a 5 link kneed walker
Generated periodic gaits and non periodic gaits for flat and uneven surface.
Developed an understanding of Non-Linear dynamics and chaos theory to construct a two-link passive walker and simulated on MATLAB