Vishnu Joshi

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.

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

mpc_walking.mov

Predictive control of biped robot (ongoing)

Stochastic Robotics Labs, IISc Bengaluru

Implementation of LIPM and SRBM based MPC
Implementation of task space controller with whole body dynamics
Implementation of learning based controller

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

PES internship_webpage.mov

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

Implementation of multiple point cloud registration algorithm
Multi robot slam on gazebo simluations

point_cloud_eval.mov

IoT Everywhere

Project Link

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

Project Link

Implementation of of a simple programming language called origin to program Atmega328p microcontroller
Capable of looping, decision making and basic IO

Publication

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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