Product and Engineering Manager
Mowito

We developed proudct to automate nano-fulfilment centers from end to end. 

At Mowito I am leading a team of exceptional engineers, to develop the robotic system which you can see on the right. 

This system goes around the warehouse (mobilty), pulls out the crate (mechtraonics), figures out where are the items in the crate and how to pick them up ( Vision Intelligence), and finally make the robotic arm move to the item and pick it up without colliding with the anything around it ( Manipulation). 

Autonomous Landing
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.

Trashbot
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).

Media Mentions:
IEEE Spectrum, Mashable (No. 8), Techcrunch

Snake Robot With a Fixed Base
Biorobotics Lab, Carnegie Mellon University

I programmed a path planner for a 8 degree of freedom snake robot with a fixed base. The planner was based on Rapidly Growing Random Trees (R-R-T) and it made the head of the snake go to desired position without colliding with the obstacles on its way. Its videos can be found here.

image courtesy : Biorobotics Lab, Carnegie Mellon University

Ankle Prosthesis
Bio-Mechatronics Lab, Carnegie Mellon University

[Link to Presentation]
The ankle prosthesis in the market have only have single degree of freedom: Pitch (Dorsal- Plantar flexion).  They don't allow inversion- eversion movement (roll). This makes it difficult for the users to walk on rough terrain, like in parks.
We have designed and implemented a surface matching controller that stabilize walking on uneven surface by controlling the motion (and torque) on both roll and pitch axis.

Quadruped Robot With Tail
Indian Institute of Technology Guwahati, India

[Link to Arduino Code Repo]
I designed and fabricated a 4 legged robot, capable of walking, crouching and climbing obstacles. Further, I also experimented with a tail to improve the stability of the robot. The tail allowed the robot to attain orientations which were not possible without a tail.

Image courtesy: cliparts.co