PROJECTS

A simple spring-loaded inverted pendulum (SLIP) model-based biped robot is investigated to capture the key characteristics of dynamics of a human gait over different terrain (flat, inclined, and uneven). Found the existence of low-speed walking and jogging with a common template. The analysis includes the stability of the hybrid system during walking. This model has a root in biomechanics studies. It is extended to adding a soft foot and observing the improvements. This study helps in reducing the gap between human and robot locomotion.

•     Analysis of the bipedal spring-mass model dynamics and finding feasible solutions for producing symmetric periodic gaits. From this study, we have found a passive biped with a periodic gait that can walk fast only under the action of gravitational force.

•     The introduction of initial leg compression as an additional model parameter proves critical for shaping the center of mass trajectories and ground reaction forces. This greatly expands the scope of discoverable symmetric gaits in the system.

•     Novel walking and jogging model solutions are derived with symmetric single support phases and touchdown lengths differing from the rest length. Prior SLIP bipeds have not exhibited this combination of attributes.

•     The model exhibits jogging gaits at very low speeds without requiring an aerial phase, contrasting with other SLIP biped studies. This illustrates substantial gait versatility from the system dynamics.

•     We demonstrate modulation of both leg stiffness, and initial compression can smoothly transition between walking and running, enabling adaptive gaits. The model can, hence, dynamically adjust to variations in speed or terrain through simultaneous parameter changes.

•     A new strategy was proposed for uneven terrain walking. The test reveals the biped withstands up to 2% leg length height fluctuations per step for certain gait combinations.

• Analytical Kinematic and Dynamic modeling of the human index finger with rigid links (4 DoF). Validation by simulation in ADAMS using rigid multibody dynamics.

• Modelled a hand exoskeleton in CATIA-V5, simulations performed in ADAMS for the index finger exoskeleton (16 links, 3 DoF).

• Forward kinematic analysis was carried out in MATLAB to determine fingertip trajectory during grasping.

• Impact: provides a theoretical basis for developing algorithm for exoskeleton hand motion controls 

• Designing a pressure vessel by using ASME code, material selection by testing, 

• Quality Assurance & Quality Control analysis.

• Welding Procedure Specification and Procedure Qualification Report.

• Developed a hands-on SEA, a single degree-of-freedom educational robot with series elastic actuation.

• Modeled the system as a connection of a linear spring-mass-damper system.

• Designed controllers for position, force, and impedance control of the series elastic actuator.

• Conducted a practical lab on this experiment, involving over 100 students, enhancing their understanding of robotics concepts.

• Modelled 9 link earth mover mechanism, performed kinematic simulation and Sensitivity analysis in ADAMS, and validated kinematic results analytically with the help of MATLAB

• Performed Static and Dynamic Force analysis in ADAMS and validated static results analytically.

• Led CAD modeling for the Superconducting Fragment Separator (super-FRS) using CATIA-V5, ensuring precise component fit.

• Conducted dynamic analysis of the beam stopper with ADAMS for safety and efficiency.

• Designed and simulated solid structures for the superconducting fragment separator.

• Improved project outcomes by refining simulations for optimal functionality, resulting in a 15% performance boost.