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Ongoing projects
Ongoing projects
Energy effecient walking controller
Energy effecient walking controller
Trying to achieve locomotion cost of transport as close to human locomotion
Using ideas from bio mechanics to build a controller
On orbit servicing
On orbit servicing
Building a controller for on orbit servicing satellite
Making use of task space formulation to control the arm without affecting the angular momentum of the whole satellite
Completed projects
Completed projects
Humanoid locomotion controller
Humanoid locomotion controller
Footstep planner is discreet step based LIPM formulation
The whole body locomotion is tracked using a prioritised task space controller
Biped locomotion controller
Biped locomotion controller
Biped is controlled using Single Rigid Body formulation
Uses simple Raibert's heuristic for footplacement planning
Trajectory optimization
Trajectory optimization
Simple Differential Dynamic Programming and iterative Linear Quadratic Regulator implementation
Uses python and autograd for dynamics
UR5 arm controller
UR5 arm controller
Uses simple weighted task space controller to control position and orientation of the end effector
Uses light weight qpSwift to solve the task space formulation
IoT Everywhere
IoT Everywhere
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
Simple compiler for Atmega328p
Simple compiler for Atmega328p
Implementation of of a simple programming language called origin to program Atmega328p microcontroller
Capable of looping, decision making and basic IO
Publications
Publications
You can check my google scholar profile for my publications. My google scholar profile 🎓
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