1. Research and Development of low cost quadruped robot for mine inspection: ● Developed and tested various quadruped robot's sensors and actuators hardware interface programs using ROS, Python, and C++. ● Implemented and tested robot localization algorithms (based on Extended Kalman Filter) to estimate the position of the robot in a global frame, utilizing data from an IMU, leg odometry, and a depth camera. ● RTAB-MAP and RGD-SLAM ros packages are used for visual odometry from intel realsense depth camera data. ● Developed and tested PID, MPC, and Impedance controllers to manage the dynamic locomotion of a quadruped across various terrains. ● Researched and developed hierarchical optimization control to track the desired motion of the base and the desired motion of the robotic manipulator mounted on the robot. 2. Research and Development of EMG based Robotic Brace for stroke patient rehabilitation and assistance: ● Responsible for complete software development and leading a cross functional team of 4 engineers for this project. ● Developed C++ programs to interface multiple EMG (Electromyography) sensors , motors and its control. ● Implemented Task space Impedance control to control the arm using TSID and Pinnochio libraries. ● Implemented MPC control in C++ and tested it on robot brace for the trajectory tracking of the arm. ● Implemented signal processing algorithms to filter multiple EMG sensor data. ● Developed AI/ML multiclass classification models to infer user bicep and tricep activations using libraries like Tensorflow and ONNX runtime.

KiTT (Automated Navigation System for Mower): ● Designed and implemented control algorithms for Autonomous mower using ROS, C++ and Python. ● Designed and implemented localization nodes in ROS by fusing sensor information from GPS, Visual Odometry and IMU. ● Created a virtual model of the Mower in Gazebo to test the localization, path planning algorithms to expedite the design process. NATA (Macadamia Nut Sorting Machine): ● Developed a software to automate the process of counting, classifying, sorting the different Macadamia nut defect types using c++ and openCV library. ● Designed and implemented algorithms to track the individual nuts on the conveyor belt in real time application. ● Improved overall processing speed of the system from 100 ms to 10 ms by taking advantage of multi-threading (in C++). 3D Reconstruction and Classification of an Anode Butt and Bath: ● Developed a software to estimate the dimensions of an Anode Butt and classification of Bath and Carbon in real time to automate the cleaning process in Aluminum Smelting Industry using C++ and PCL library. ● Dimensions are estimated through creating 3D reconstruction of Anode Butt by using point clouds taken from 3D cameras. ● Visual Feature Estimation and ICP (Iterative Closest Point) algorithms are used for merging point clouds and creating 3D reconstruction of the Anode Butt. Personal Projects: ● Implemented augmented reality application, where KLT ( Kanade–Lucas–Tomasi) tracker is used to get the position of points of interest in the image and then homography estimation is used to compute 3D pose of these points to overlay a logo. ● Implemented key elements of structure from motion in matlab which takes a set of images and compute camera poses and 3D point cloud simultaneously. ● Implemented a Kalman Filter for ball tracking for a soccer robot to predict the ball's location constantly for planning its next motion using matlab. ● Implemented a particle filter for robotic pose tracking in 2d space using 2d lidar data in matlab. ● Design and Development of Autonomous Vacuum robot that can autonomously map an environment and navigate to pick and drop objects using ROS, C++ and Gazebo. - Created 2d occupancy grid and 3d octomap from simulated environment using RTAB-MAP ros pkg. - Localize position of mobile robot inside simulated environment using ros AMCL (Adaptive Monte Carlo Localization) pkg. ● Developed a Whole body controller for Humanoid Robot Wrestling Competition held at ICRA 2023 Robotic conference. ● Contributed to open source repositories like RBDL (rigid body dynamics algorithms library), TSID (task space inverse dynamic library) and TBAI ( quadruped controller library).