Projects & Research

My Projects

A collection of robotics projects, patents, and research spanning manipulation, motion planning, localization, and hardware design.

Research & Publications
📄 IEEE Publication
Flexible Magnetometer-Based Soft Sensor
Surgical Technologies Research Group - University of Leeds · July 2017
  • Designed and built a flexible soft sensor using magnetometer principles.
  • Published in IEEE Xplore — covers sensor fabrication, calibration methodology, and experimental validation.
Soft RoboticsSensorsMagnetometerIEEE

📖 Read on IEEE Xplore →
📄 IJER Publication
Remote Controlled RRR Manipulator via Android & Bluetooth
PSG College of Technology · International Journal of Engineering Research · Dec 2016
  • Designed and built a 5-DOF RRR robotic arm controlled wirelessly from an Android smartphone over Bluetooth (HC-05), eliminating the need for proprietary software or dedicated computers.
  • Developed a custom MIT App Inventor application supporting forward kinematics (joint-angle sliders), inverse kinematics (end-effector position input), and Google voice recognition to command the arm.
  • Performed static torque analysis with free-body diagrams to size servo motors at each revolute joint; 3D-printed the ABS plastic framework with hexagonal infill for a high strength-to-weight ratio.
RoboticsArduinoInverse KinematicsBluetoothAndroid3D Printing

Patents
🏛 Patent · IN499246
Toggle Mechanism for Stair-Climbing Wheels
Patent No: 499246 · Application No: 201641034513 · Issued Jan 15, 2024
  • Motivated by the lack of ramps for wheelchair users in Indian buildings — devised a mechanism to toggle between two mobility modes.
  • Developed a toggle mechanism to switch between spoked and solid wheel configurations for flat surfaces vs. stair climbing.
  • Designed a rack and pinion setup to combine two sets of spoked wheels into a solid wheel configuration.
Mechanical DesignAccessibilityRack & PinionPatent

🏛 View Patent Certificate →
Robotics Projects
Motion Planning Mini Projects
Personal · Present
  • Kuka Robot and UR5 simulations in Gazebo with A*, RRT, Bi-directional RRT, and RRT* algorithms for manipulator trajectory planning.
  • Virtual environment using LiDAR and odometry readings with EKF and Monte Carlo Localization (particle filter) algorithms.
ROSGazeboMotion Planning SLAMEKFRRT*
Path Planning and Grasping on Fetch Robot
Columbia University · Sept 2019
  • Used ROS packages for path planning and grasping of objects from point-cloud data on the Fetch robot.
ROSPoint CloudGraspingPath Planning

▶ Watch Demo
Evolutionary Walking Algorithm
Columbia University · Dec 2018
  • Developed a genetic algorithm that generates and optimizes shapes and parameters of cubes to form a walking robot.
  • Implemented in C++ with graphics in OpenGL and vPython.
C++Genetic AlgorithmOpenGLvPython

▶ Watch Demo
Hardware & Formula Student
Formula Student Car – Pegasus '17
PSG College of Technology · Formula Student Germany · 2017
  • Led gear shifter and roll cage design for the Formula Student race car.
  • Finished 11th out of 75 teams at Formula Student Germany at the Cost event.
Mechanical DesignRoll CageFormula Student