Projects
Projects
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Oregon State University
Oregon State University
MS in Robotics
MS in Robotics
Deep Reinforcement Learning in Multiagent System
Deep Reinforcement Learning in Multiagent System
Agents learn to spread and cover points of interest collaboratively.
- Incorporated Recurrent Neural Network in Multiagent actor-critic framework to address agent's partial observations.
- Implemented reward shaping through difference rewards to alleviate structural credit assignment problem.
ezgif.com-video-to-gif.gifArtifacts Prediction and Decision making
Artifacts Prediction and Decision making
This project is a part of DARPA subterranean challenge - aiming to rapidly map complex underground environments including tunnel systems, urban underground, natural cave.
- Successfully generated database of tunnel maps in Gazebo.
- These database of maps will be used to infer artifact locations in unexplored environments.
Visvesvaraya National Institute of Technology, Nagpur
Visvesvaraya National Institute of Technology, Nagpur
Advised by Dr. Shital S. Chiddarwar
Advised by Dr. Shital S. Chiddarwar
Omni-directional Spherical Modular Snake Robot (OSMOS)
Omni-directional Spherical Modular Snake Robot (OSMOS)
- Developed a snake robot consisting mechanically connected multiple spherical modules.
- Design eliminates the problems with existing snake robots to handle lateral motions and complex gait analysis by leveraging omni directional motion capabilities of spherical bots.
- Each spherical module worked on the barycenter offset principle with two driving units incorporating Omnidirectional motion: a) For propelling the robot forward. b) For steering the propeller unit.
Design, Fabrication & Control of 'Swayat'-20 DOF Humanoid
Design, Fabrication & Control of 'Swayat'-20 DOF Humanoid
- 3D CAD model was designed in SolidWorks and cost effective fabrication was done in CNC machine. Dynamixel servomotors of different torque rating were used for different joints.
- The sub controller circuit was developed which acts as the link between robot's Intel Atom processor and different actuators, sensors and the camera.
- Successfully implemented walking gait, object grasping and sketching.
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