Trotbot</papertitle> Code
Developed a ROS Action based interface for motion planning, dynamic obstacle avoidance and replanning for an omni-directional ground robot. Worked on implementing obstacle avoidance and a low level controller for an omni-wheeled robot and integrating an A* planner with 2D Occupancy Grid. Currently working on obtaining reliable odometry for performing indoor visual inertial SLAM. </p> </td> </tr>Geometric Path Tracking ”Stanley” Controller</papertitle>
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Implemented a path tracking controller for traversal of smooth continuous curved trajectories The controller tracks the closest point on the desired trajectory uses lateral error from the target point (crosstrack error) as well as heading error to compute the control output The Stanley controller was implemented on Project Kratos’ Mars Rover </td> </tr>Spiderbot</papertitle> Code
Spiderbot is a custom designed and manufactured symmetrical hexapod with each leg having 3DoF Working on implementation of various gait patterns using a bio-inspired Central Pattern Generator(CPG) based controller for smooth motion. </td> </tr>Strikebot</papertitle> Code
Strikebot is a spherical ground robot controlled by an internal pendulum and DC motors Interfaced with an IMU (MPU 6050 and MPU 9250) to achieve active damping for stabilizing the spherical robot The project was displayed at Quark 2022, the annual Technical Fest of BITS Goa. </td> </tr>ROS Hackathon</papertitle> Code
Developed a software stack for an omni-wheeled ground robot to traverse through a field of obstacles autonomously Motion planning uses a modified variant of RRT for path planning and closed loop PID control for point to point navigation The submission was made to a hackathon in my sophomore year. </td> </tr> </tbody> </table> </div> Gallery Coming soon :)
