Robotics

Projects

Projects Robotics Electronics Embedded Systems Mechatronics

I absolutely love making — sometimes unmaking — things. Some are useful, others… not so much ¯\_(ツ)_/¯. But each one is something to learn from. Be it robotics, simulations, programming, electronics, 3D printing, and much more.

Sahayak Bot ↗ ↖

Robotics ROS Gazebo Moveit! Navigation SLAM Perception Manipulation Python

Made during the e-yantra Robotics Competition 2020-21, Sahayak Bot was the first project that introduced me to simulation-based advanced robotics development using ROS & Gazebo. We focused on the developement of the autonomy stack of Sahayak Bot, a mobile manipulator, including navigation, SLAM, perception, manipulation & mission planning using ROS, Gazebo and Moveit!. Upon completition our implementation was selected among top 7 finalists out of almost 500 teams.

MR (ModulaR) Robot ↗ ↖

Robotics AMR ROS Electronics PCB Design Fabrication 3D Printing

Our in-house custom designed and fabricated AMR at A.T.O.M. The hardware and software design follows a modular architecture making this fitting for the multiple applications, hence the name MR (ModulaR) Robot.

ROS Perception Pipeline ↗ ↖

Robotics Perception Open Source

An open source project being developed as part of A.T.O.M Robotics Lab. The project is intended to work as a one-stop solution for easily deploying perception pipelines with common applications like object detection, image segmentation, image pre processing, etc. The project follows modular plugin-based architecture much like Nav2 in concept. The project is actively used in A.T.O.M’s in-house mobile robot - MR Robot

S.T.E.W.A.R.D: Smart TErrestrial WArehouse Robot Deployment ↗ ↖

Robotics ROS Computer Vision Gazebo InfluxDB Grafana Python

First prize winning project for Mitsubishi America’s Rally-To-Tally Online Hackathon. Developed an autonomous solution for their problem statement of inventory management of large industrial steel pipes using computer vision and outdoor mobile robots. Demostrated the PoC with the help of a custom simulation of Husky robot in Gazebo with InfluxDB and Grafana for integration for the data visualization

Functional Weeder ↗ ↖

Robotics Path Planning Mapping Fleet Management Line Following Elixir Programming 3D Printing Electronics

Built a fleet of two line-following robots with custom 3D-printed pick-and-place mechanisms during the e-Yantra Robotics Competition 2021–22. Developed algorithms for grid-based path planning, mapping, fleet management, PID-based line following and manipulation in Elixir. Selected among the top 5 teams out of nearly 300.