Air Lab, Robotics Institute
The objective of the project was to land drone on a moving truck.
The drone had no communication with the truck. It had to first detect the truck, and then land on it. The team had total 4 members. I was responsible for the perception side of the project, which involved detecting the truck, detecting the landing platform on it and then executing the visual servoing in order to perform the landing maneuver.
The code for this project is private, but we are in the process of writing technical paper on it.
Note: the person holding the Remote Controller in the video, is the safety pilot.
Navigation Around Doors
Course Project under Dr. Maxime Likhachev
The objective was to make a single arm mobile manipulator pull open a spring loaded door, go around it, exit the room and leave the door. Our solution was a lattice based planner which used A-star to give way points to reach the target. The way points contained information about the position of the robot and the door, and how is the door being held.
The code for this planner could be found on the project's github repo.
Clean Robotics, HAX-8, Shenzhen, China
Trashbot is device which can sort the trash into recyclable and landfill. User puts trash into it, it then classifies trash into recyclable or landfill and pushes it into right trash bin.
I single handedly developed firmware and electronics for its first prototype (shown in the video) and assisted in its CAD and assembly. It uses metal detector, weighing scale and images of the trash to classify the trash.
It was developed in HAX-8 accelerator program (Spring 2016).
IEEE Spectrum, Mashable (No. 8), Techcrunch
Snake Robot With a Fixed Base
Image courtesy: cliparts.co