All my publicly available code (mostly on past projects and few on present ones) are available on GitHub. I have coded extensively in C and C++, MATLAB, and Python, though during my Ph.D, most of my code are written in Python. In my GitHub page, there are 4 main repositories with various projects organized as sub folders. Other than pyFunda, all the other repositories have code for the past projects (before Ph.D / early stages of Ph.D). pyFunda has code on some interesting python problems (totally for fun). I am also a part of Georgia-Tech ROS Group on GitHub. 

The majority of my Ph.D work code is in a private GitHub Enterprise (local to the organization) repository under a different GitHub organization account, which I will release in due time. Hence, you will not see much activity in my public GitHub repository. However, here is an embedded chart of my coding activity in the past week. This chart will update automatically every day. I am using gspread (Google spreadsheets Python API) and OAUTH2 authorization with JSON web tokens to interface my python code with google spreadsheets which publishes this chart on this website :)


Cody and DARCI :

During my Ph.D, I have been actively working on 'Cody' and 'DARCI'. Both 'Cody' and 'DARCI' are robots developed by Meka Robotics (Now, a part of Google). Cody is a statically stable mobile manipulator weighing roughly 160 kg. The components of the robot are: Meka A1 arms, a Segway omni-directional base and a Festo 1-D.O.F. linear actuator. The arms consist of two 7-D.O.F. anthropomorphic arms with series elastic actuators. Cody has a force sensitive skin across its entire forearm. The skin consists of a capacitive pressure sensor array. DARCI is the next generation of Cody with arms that can have a larger range of joint stiffness values. The robot has two 6-DOF F/T sensors at its wrists. See below :

                                                                          Cody and I in our Mocap room (Left), DARCI reaching into a cluttered environment (Right)                                  

PR-2 :

I have also worked on PR-2 during my Ph.D, albeit, not as actively as on Cody and DARCI. It was developed by Willow Garage.  It also has two 7-DOF arms and a gripper on each arm, with an omni-directional base, a head, and a spine. Its arms are much bulkier than Cody or DARCI, and thus might not be very effective for manipulation in highly cluttered environments.

7-DOF Custom-built Robotic Arm :

I worked on a custom-built 7-DOF Robotic Arm during my time in KIST, South-Korea. The motors were coupled with the links using mechanical gears of around 100:1 ratio.

3-DOF Custom-built Robotic Arm :

I worked on a custom-built 3-DOF Robotic Arm during my internship at Disney Research, LA. This robot used a cable-pulley arrangement to actuate the joints using Maxon motors. It also had a 6-axis F/T sensor at the wrist. 

Dusty :

My work on Dusty is limited to some prototyping as well as running demos for picking objects up from floors. Dusty is a teleoperated mobile robot built on iRobot Create platform in Healthcare Robotics Lab, GT for fetching objects. It has a custom built scissor-lift on top of the platform to raise the picked objects to a wheelchair height. Below, you will see me teleoperating Dusty using a joystick, to pick up a badge from floor and deliver it at a raised height to someone at British Consul-General's Residence in Atlanta.

Handheld Data-Acquisition Device and 1-DOF Custom-built Robots :

Josh and I have built one handheld data-acquisition device and two 1-DOF robots for easy data collection where it is difficult for bulkier robots to go. Each device / robot has a multimodal sensor module attached at the end-effector. The sensor module consists of force, active and passive thermal, and contact vibration sensing capabilities. One robot also has a physical mass-spring-damper attached at its end. They use Arduino for communication. We will publicly release the design of our devices / robots and the interfacing code as a part of our 'Open-Access-Haptic-Database (OAHD)' in near future.

Phantom Premium :

I have extensively used Phantom Premium as a haptic master with various virtual environments / 1-DOF slave manipulators for teleoperation experiments during my time in KAIST, South Korea. We did the interfacing using Open Haptics toolkit by Sensable. 


Stretchable Fabric-based Force Sensing Skin :

I have extensively used our developed stretchable fabric-based force sensing skin for various robot experiments as well as for analyzing the sensor characteristics. We have publicly released the open-hardware design as well as the interfacing code here.

Stretchable Fabric-based Multimodal Skin :

Coming Soon !


I will release all the data of my Ph.D work as a part of our 'Open-Access-Haptic-Database (OAHD)' in future.