Autonomous Robot Car Navigation
Navigate robot car in unknown map using LADAR,
Mocap, camera and other on-board sensors to explore map, identify and
figuratively exterminate 'weeds'. A* was used to plan paths to
checkpoints and was customized to explore the map exhaustively.
Project involved writing firmwares to use sensors, low-level
controller on on-board microcontroller for driving and A*,
computer vision and other programs on a DSP+ARM processor.
Control of Robot Arm for Precise Positioning and Handling Fragile
Robot Dynamics and Control
Implemented multiple control schemes including
Inverse Dynamics control and Simple Impedance control as digital
controllers on on-board DSP. The end-effector successfully performed
hole-insertion, groove traversing and load application to fragile
A Simplified Problem of Localization and Mapping
Mapped an arena using a robot car, equipped with two inexpensive IR sensors, one photoresistor
and MSP430 microcontroller, self-driving on a pre-determined path using wall-following and localizing itself by fusing dead-reckoning
information with IR sensor data. Used photoresistor to find dark cells on grid. Achieved real-time
updation of map on a MATLAB application.
Control and Actuation of Soft Exoskeleton
Human Dynamics and Controls Lab
Built pressure control board equipped with proportional pneumatic valves and pressure sensors
to independently control 3 air channels to soft actuators powering our exoskeleton. Developed a LabVIEW based
PID controller using Quanser q8-usb real-time DAQ.
Scalable Pneumatic and Tendon Driven Robotic Joint Inspired by Jumping
Max Planck Institute for Intelligent Systems, Stuttgart
A novel robotic actuator joint employing both
pneumatics and electrically-actuated tendons was developed inspired by joints seen in real spiders (inferences drawn
from scanning-electron microscope images of real spiders). System
is characterized under static and dynamic conditions. Published at IEEE ICRA 2017.
ABU Robocon 2015 (Robominton): Badminton Playing Robots
Centre for Mechatronics, IIT Kanpur
Two robots are built to play badminton on an
actual size court. Several mechanisms are synthesized to implement a
wide variety of strokes played by real
badminton players. A double-actuation mechanism is constructed to
imitate the combined movement of elbow and wrist joints in humans.
All mechanisms are powered by pneumatic pistons and controlled through
electrically actuated valves.
The chassis is designed to implement holonomic drive using omni wheels
to provide it three degrees of freedom on court.
Pennate Muscle Inspired Actuator Using SMA Wires
Smart Materials, Structures and Systems Lab, IIT Kanpur
A smart actuator using shape memory alloy wires is
designed which replicates the arrangement of muscle fibres in a
The constitutional modelling is done using Brinson's model for SMA.
The actuator attempts to achieve all advantages of pennate arrangement
compactness, displacement magnification and easy tuning to desired
Moreover, usage of SMA makes it a self-sensing actuator too.
Mechanically Actuated Garbage Compactor
Dept. Of Mechanical Engineering, IIT Kanpur
Project aims to develop inexpensive and robust
small-scale/domestic garbage compressing solution for Indian
The mechanism constructed for amplifying user input doesn't employ
electronics or hydraulics. Current design generates 1635N output for
an input of 300N and achieves compression ratio of five. A smart
notification system is also integrated which
senses when the bin is full and sends message to the concerned
Problem Resolution after Root Cause Analysis for Cross-member of Vehicle
TATA Motors Limited, Lucknow
A fitment issue is repeatedly reported by Assembly
line operators. The fitment issue is traced to incorrect dimensions of
received from an ancillary. The origin of error is identified in
riveting and punching processes at the ancillary. The riveting fixture
is suitable modified
and the punch of press is replaced. The next lot of cross-members
received from this ancillary are dimensionally correct and the fitment
issue is eliminated.
Hand Held Portable Dry Cleaner: CleanEasy
New Product Design and Prototyping
A novel device capable of performing all stages in
dry cleaning process is designed and prototyped.
Next, the team performed and analysed market survey to identify
potential customer segments and tuned the product accordingly.
The product idea is pitched to Mechanical and Design department of IIT
Kanpur and won monetary grant for further stages of prototyping.