Research Assistantship at IIT Hyderabad
Full-sized Humanoid Robot
I have built a Full Sized Humanoid at IIT Hyderabad from scratch. As I worked on this ambitious project independently, I had to push my limits to play the role of a Mechanical Engineer, an Electrical Engineer, a Computer Scientist, and a Control Engineer. I designed the robot on Solidworks, performed stress analysis, fabricated and assembled it. I also designed & fabricated its Electronics layout to efficiently deliver power to all the actuators and acquire data from the sensors. I also developed a static walking algorithm for the robot.
Height: 172.2 CM
Degrees of Freedom: 26
- Dynamixel Pro H54-200-S500-R
- Dynamixel RX-64
- Hokuyo UTM-30LX-EW
- Stereo Labs ZED
- Analog Devices ADIS16485 6DOF IMU
Push Recovery of Bipedal robots by sliding
This work involves in the development of a novel strategy of push recovery of biped robots by continuously reconfiguring its posture and initiating sliding on the flat floor once the Zero Moment Point (ZMP) reaches a predetermined position under the foot.
Vertical Jumping in Bipedal robots using control constraints
I attempted to approach the complex tasks of running and forward jumping of humanoids, by studying a simpler motion: vertical jumping; which shares its main characteristics of flight and aerial phases with these highly dynamic activities. I developed a novel algorithm to achieve vertical jumping of a biped through the multibody dynamics approach to generate joint trajectories with control constraints that depend on the vertical distance traveled by the center of mass of a 21cm tall biped to jump vertically up to a height of 4cm.
This work involves the development of a robot that has the ground and interactive capabilities of humanoids and aerial capabilities of quadrotors. I assembled the robot and manually tested its flight and gait. Later, I achieved forward and backward leaping on the robot which wouldn’t have been possible without the Quadrotor countering gravity.I am currently focussing on its spatial dynamic analysis to achieve controlled flight and locomotion.
Self Adjusting Foot Support Apparatus
While I was working on the biped wide ditch crossing problem, I noticed that the planar bipeds and the users of exoskeleton and orthoses face a similar problem- lack of support in the sagittal plane and people using these bionic aids compensate for it using crutches. So, I redesigned the footplates of these bionic aids to have self-adjustable and auto-retracting medial and lateral support flaps to solve this problem and enhance the stability of the user.
Control of 5Bar Parallel Manipulator
We propose a design of a 5Bar Paralell Manipulator in which all four links have equal lengths. Since such a design leads to more parallel singularities, a control strategy to overcome them is proposed. As a result, the usable workspace of the robot has significantly increased. The idea has been implemented on a prototype.
Full Sized Quadruped
This project deals with the development of gait for a cheetah sized 12DOF quadruped that walks at 30m/min speed with a step length of 15cm.
I worked on the development of an uncalibrated gaze tracking algorithm in infants on the Pediatric Perimeter, a novel device to measure and quantify visual fields and reaction times to light stimulus in infants
Pupil + is a novel portable binocular device to quantify and measure pupillary and neurological responses to light stimuli. I designed the hardware layout of the system and developed a CV Algorithm to discard blurry images for this device.
This work presents a method to construct a pendulum of constant amplitude to analyse Pulfrich type depth illusion. In order to achieve maximum swing of the pendulum, a rigid body pendulum is attached to a robot actuator and driven from its pivot point to create SHM artificially by the temporal control of the position and velocity of the motor shaft.
Dry Eye Syndrome Quantifier
Dry eye disease is the most prevalent eye disease in the world. I developed an imaging system that goes onto a traditional slit lamp (primary eye-screening device) and can image the interference pattern on the lipid layer and calculate the tear film breakup time which can help us estimate the severity of dry eyes.
Dynamic Balance of Humanoid Robots on Unstable Surfaces
This project involves in the development of a computationally efficient control algorithm to achieve the balance of humanoid robots on dynamic surfaces such as seesaws or hanging bridges using inverted pendulum model
Teleoperation through whole body with Motion Imitation in Humanoids
Charlie-3D Printed Humanoid
This Project involves in the construction of a completely 3D printed 20DOF Humanoid robot with an onboard chatbot.
Teleoperation of Humanoid Torso by Motion Imitation
Humanoid playing Tic Tac Toe
Humanoid autonomously raising from Fall
Gesture Controlled Robotic Arm
This project employs an Xbox Kinect to perform depth processing and inverse kinematics to control the robot's trajectory driven by the human hand gestures.