Robotics

Evoborne - Mass Robotics’ Form and Function Challenge 2024

• An incredible machine with 2 DOF per limb with integrated thrusters for drone functionality, allowing versatile maneuverability.

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Control Systems, Robotics, and Mechanical design.

Acti-V-Link: An Active Surface Gripper for In-Hand Manipulation

• Design and Manufacturing: Developed a cost-effective and robust gripper using SolidWorks and 3D printing technology, ensuring structural integrity with PLA material and optimizing gear and linkage mechanisms for efficient in-hand manipulation.

• Control Systems Integration: Implemented and optimized control systems using ESP32 microcontroller and FreeRTOS for precise motor control, integrating visual feedback with Aruco markers for accurate pose estimation and manipulation of various objects.

• Experimental Validation: Conducted comprehensive experiments demonstrating the gripper’s ability to handle objects of different shapes and sizes with accurate rotational and translational movements, utilizing torque feedback for secure grasping and maintaining mechanical stress within safe limits

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Made in just 3 days

Anuvadak

• Designed a pipe traversing bot with 6 actuators and Raspberry pi 3b to control the PWM signals through TB66 Motor driver

• This project was fully developed in the span of 3 days involving two versions of the bot for establishing communication communication with the labours trapped in a tunnel in Himachal Pradesh.

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Control Systems, Robotics, Simulation, ROS, Gazebo, and Python

Control System and Simulation of a Hexacopter with Tilt Rotors

• In order to simulate successful omnidirectional flying, I developed and implemented the optimal PID control system for an overactuated hexacopter with co-axial tilt-rotors using Python and ROS (gazebo).

• Reviewed Relevant literature for deriving the allocation matrices for the control.

• Performed various mathematical operations from scratch in Python, such as Moore-Penrose Psuedo inverse, solution for the linear equations, etc.

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