Vishnu Joshi
"Model what you know, learn what you don't know!!"
I am a project associate, currently working in Stochastic Robotics Labs, IISc under professor Dr Shishir N Y. My research focuses on controls of underactuated systems. I am also working with Prof Andy Ruina (Cornell University) on energy efficient walking controller and Suraj Kumar (Research Scientist - ISRO) on spacecraft control and guidance.
Even after having a degree in the field of Computer Applications, I found my interest in Robotics. I started out in the field of robotics by working on SLAM (Simultaneous Localization and Mapping). After venturing deep into the field, I found my interests in control of underactuated systems.
I am currently working on control of bipedal robots using classical control techniques and learning based methods. I am particularly drawn to the elegance of mathematics that govern optimisation, behavior of dynamical systems and control algorithms.
Projects
2D LIPM walking with weighted Task Space Controller
Stochastic Robotics Labs, IISc Bengaluru - Related Publication
Implementation of fixed time step based MPC
Implementation of weighted Task Space Controller as lower level tracking controller
Task Space controller for UR5 arm
Implementation of weighted task space controller for robotic arm
Used to track commanded end effector position and orientation on an UR5 robotic arm
Predictive control of biped robot
Stochastic Robotics Labs, IISc Bengaluru
Implementation of SRBM MPC
Deploying SRBM MPC on v2 Dridh robot
Control of miniature biped
e-Yantra, IIT Bombay
Implementation of basic controller that for robot locomotion
Makes use of simple Inverted Pendulum dynamics to achieve stable walking
Learning based walking controller
CRAIS (Center for Robotics Automation and Intelligent Systems) PES University
Implementation of learning based controller using matlab
Makes use of DDPG network
Point cloud algorithm evaluation
Dept of Computer Applications, PES University - Related Publication
Implementation of multiple point cloud registration algorithm
Multi robot slam on gazebo simluations
IoT Everywhere
Project Link , Related Publication
Implementation of origin programming language for android devices to interface IO from sensors in android system
Used for learning purposes, since android phones are easily available and gives a taste of IoT development
Atmega328p compiler
Implementation of of a simple programming language called origin to program Atmega328p microcontroller
Capable of looping, decision making and basic IO
Publication
Joshi, Vishnu, Suraj Kumar, Nithin Vasishta and Shishir Kolathaya. "Discrete time model predictive control for humanoid walking with step adjustment." arXiv preprint arXiv:2410.06790 (2024).
V. Joshi and S. Veena, "Evaluation of Point Cloud Registration Algorithm for Global Map Generation in Multi Robot Slam in Uneven Terrain," 2023 7th International Conference on Automation, Control and Robots (ICACR), Kuala Lumpur, Malaysia, 2023, pp. 1-6, doi: 10.1109/ICACR59381.2023.10314583.
Joshi, Vishnu. "Convert any android device into a programmable IoT device with the help of IoT Everywhere Framework." arXiv preprint arXiv:2405.01568 (2024).
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