Academic work

Research

• Based on the work done during my masters thesis, I co-authored a paper under the guidance of Mr. Mahdi Javadi and Dr. Shivesh Kumar titled "RicMonk: A Three-Link Brachiation Robot with Passive Grippers". Demonstrations of the experiments performed with the robot are presented on YouTube.

• During the course of my Engineering at Amrita School of Engineering, my friend, Prithvi Mellacheruvu, and I co-authored a paper titled “Effective Education using a 5-bar 2-DOF linkage” under the guidance of Mr. Rajeevlochana G. Chittawadigi, a Professor at Amrita School of Engineering – Bangalore, which describes a method of using a pantograph to help young children write.

Projects

RicMonk: A Three-link Brachiation robot with Passive Grippers

This project offers an open-source and low-cost kit to test control algorithms for underactuated robots. It introduces a three-link underactuated brachiation robot called RicMonk capable of bidirectional brachiation maneuver with passive grippers 

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Sensor-based shape estimation of continuum robots

The goal of this project was to develop a sensor based state estimation of a cantilever beam which is usually used in continuum parallel robots. Two types of sensing methods have been tested/experimented and the best method is put forth.

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Temperature mapping using TurtleBots and ROS

TurtleBots with a LIDAR sensor for primary mapping of the environment used to map the temperature of the environment and generate an image file that displays the same. 

Github link 

Design of 3-DOF PPM

A 3-degrees of freedom planar parallel manipulator was designed and its link lengths were optimized in such a way that a minimum workspace was maintained and the mechanism as a whole had minimum strength.

Github link 

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Image compression

Image compression using JPEG techniques were implemented and the images before and after compression were compared.

Github link 

Internships and Thesis

• Worked at German Research Center for Artificial Intelligence (DFKI), Bremen, Germany, under the supervision of Mr. Mahdi Javadi and Dr. Shivesh Kumar on my master thesis titled "Mechatronic Design and Control of an Underactuated Three-link Brachiation Robot". GitHub repo

• Worked with Mr. Prithvi. M. Bharadwaj on a project that involving State estimation of a continuum robot

• Collaborated with Mr. Prithvi M. Bharadwaj on a summer internship project under doctorant Mr. Durgesh Salunkhe and Dr. Damien Chablat on the design of a modular 3D printable 3R robot and a study of cuspidality. Report link

• After my second year in college, I interned at IIT Dharwad under Prof. Sangamesh Deepak and helped him with his research in the area of Over-Constrained linkages. The best part about this internship was my solo trip to Goa. Report link

• It was great to learn the various processes involved in the manufacturing of springs at Stumpp, Schuele and Somappa Springs. Report link