Robotics

Powered Lower Limb Exoskeleton

I was team leader of the winning team in the Robofest2.0 competition under the powered lower-limb exoskeleton category. The competition was a state-level competition, and teams from tier-1 universities such as SVNIT, Nirma University, BVM, and more participated. Click and find more details regarding the competition and our project.

Controlling Quadrotor with PID Controller

Coded PID controllers for controlling Quadrotor in 1D, 2D and 3D planes, and created inner loop (altitude control) and outer loop (position control) of PID controller for 3D control of Quadrotor.

Factory Automation with Robot Operating System (ROS)

This project was a course work of this course. Project consists of setting up Pub-Sub mechanism for communicating between two ROS nodes, modifying URDF model of factory, ROS Navigation stack for navigating turtle bot in factory environment, manipulation of robotic arm by ROS MoveIt package and behaviour setup with FlexBE App state machine.

Learning NMPC with Q-Learning-Reinforcement Learning algorithm

Q-Reinforcement learning algorithms is designed to improve video cinematography of car racing scenario, for each racing iteration different NMPC weights are selected and optimal policy is being developed - performance of the filming car improves with respect to race iteration.