Projects

Collection of my research and other projects.

Latest
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Proprioception using hydraulic knuckles on tendon driven multi link mechanism

Hydraulic knuckles used for joint state estimation while acting as variable stiffness joints on a tendon driven multi link mechanism
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Development of soft gripper for dexterous manipulation

A parallel underactuated tendon driven gripper with hydraulic knuckles as variable stiffness joints
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MCTS energy optimal trajectory

Monte carlo tree search planning algorithm for generating energy optimal control for variable joint stiffness underactuated finger
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A* optimal path

A* search algorithm for variable joint stiffness control in an underactuated system
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Characterization of hydraulic knuckle

Experiments to characterize the performance of hydraulic knuckle
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Development of origami inspired variable diameter wheel robot

Design and development of STeVe( Smart Terrain Vehicle) viz. a wheeled mobile robot capable of maneuvering over various terrains with increased mobility by dynamically adjusting wheel diameter
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Chatter detection on CNC milling machine

Neural network based chatter detection and control on a CNC milling machine