GRADUATE PROJECTS

BAXTER KDL PACKAGE

Kinematics and Dynamics Library for the Baxter robot

LfD USING DYNAMIC MOVEMENT PRIMITIVES

Dynamic Movement Primitives based trajectory generation and scaling for the KukaYouBot manipulator

FUZZY LOGIC CONTROLLER

Implementation of Fuzzy Logic Controller for indoor navigation of mobile robots

MANIPULATOR MOTION PLANNING

Motion Planning of a 15-DOF dual arm robot for task automation

ROBOT-ROBOT HANDOVER

Collaborative Task Planning via Deep Reinforcement Learning to effectuate mid-air robot-robot object handover

HAPTIC REHABILITATION DEVICE

Design and Development of 2 3-DOF manipulator arms for stroke rehabilitation enabled with haptic feedback

VISUAL ODOMETRY ESTIMATION USING DEEP LEARNING

Determination of mobile robot odometry (transformation matrices) for localization during navigation








UNDERGRADUATE PROJECTS

ACTROID

Smart Animatronic Human Face with natural interaction capability

MAINTENANCE ROBOT

Design of a robotic system for maintenance and repair of power transmission lines in live condition

BIPED ROBOT

Design and development of a lower body walking biped robot

RAIL ALERT

Virtual geo-fence system around unmanned rail-road crossovers for prevention of mishaps

SEMG EXTRACTION SETUP

Design and implementation of a robust SEMG signal extraction hardware with integrated software

UNMANNED GROUND VEHICLE

Control System design for a differential drive UGV for given path motion

ROBOARM

Modelled a human arm motion replicating robotic arm via a sensor powered glove

SELF DRIVING VEHICLE

Designing setups for automation in the existing car system




PUBLICATIONS

  •   Kumar, Akshay, et al. "Hardware in the loop based simulation of a robotic system with real time control and animation of working model." 2017 IEEE International Conference on Inventive Systems and Control (ICISC), 2017. URL



  • Abstract:
    The computer-based real-time simulation of an electro-mechanical system using not only automatically fed pre-defined simulation conditions, but real life input signals to the system to enhance user control options is proposed. The introduced system is a robotic assistive technology for repair and maintenance of electrical power transmission lines in live condition. The setup is assisted by a simulation to provide real-time animation of the system under study while the controller operates the same, remotely and simultaneously. These systems can be used for research or educational purposes so as to measure the efficiency of the design for mechatronics industrial systems not only on predetermined inputs but on random test data sets as well and observe its response to the operational constraints that limit the system use.

  •   Rahul Ravichandran, Akshay Kumar and Rajesh Kumar, "Joint angle measurement for biped robot orientation estimation using MEMs based inertial sensors" In Press, Presented at 2nd IEEE International conference on Electronics, Communication and Aerospace Technology (ICECA 2018) URL



  • Abstract:
    The implementation and efficacy of closed loop systems in machines with moving limbs/parts is largely dependent upon the feedback systems that measure the extent of motion - linear or rotational. This paper proposes a novel technique for measurement of joint angles and thus rotational motion for links pivoted at a powered/non-powered joint, using low-cost inertial sensors. The paper proposes the substitution of noisy, inefficient and poor resolution mechanical sensors like optical or pulse encoders with tri-axial accelerometers and tri-axial gyroscope fused in low-cost Inertial Measurement Units(IMUs). This technique is used to measure the angles between the various joints of a bipedal robot and estimate its complete orientation in 3D space. The crux of this paper is utilizing the extended capabilities of the inertial sensors in joint angle estimation for closed loop operation of a 12-Degree Of Freedom(DOF) lower body biped robot with potential implementation on stable bent knee walking on flat surfaces. All the joints of the biped are revolute and facilitate rotation of various limbs like thigh, shin and foot, analogous to a human leg. All links have IMUs mounted on them for the proposed task.

  •   Akshay Kumar, Gaurav Vikhe and Chaitanya Perugu , "Robot-Robot Handover via Reinforcement Learning " Under Review for acceptance at IROS 2018



  • Abstract:
    Engineering robot collaboration without significant reliance on sophisticated camera equipment to observe the robot's environment has always been a subject of interest for researchers. We believe combining proprioceptive sensing with reinforcement learning is essential for enabling robots to achieve tasks through collaboration in novel unknown environments. To that end, we propose a framework for two arm manipulators to work collaboratively in order to successfully transfer an object between locations that transcend one robot's reachability. Our major focus is on achieving mid-air object transfer, using a single RL agent, much like one brain controlling two arms. We attempt the proposed project in the V-REP simulation environment using deep Q-learning, a deep reinforcement learning algorithm and present the results of our experiments on subtasks of the whole task. Our agent successfully learned to place the object at the goal and to transfer the object among themselves to a reasonable degree.

    PATENTS

  •      Robotic Technology for Transmission Line Inspection in Live Condition – Published URL
  •      Rail Alert Systems- Published URL
  •      ORTHO-DAER: Comprehensive System for Osteoarthritis detection, analysis and rehabilitation based on efficient SEMG signals - Published URL



  • TECHNICAL SKILLS


    PROGRAMMING SKILLS



    Additional Info

    RESUME

    WHAT DO I DO IN MY LEISURE TIME

  • TV Series - I follow quite a few of them. Sci-fi is love - Game Of Thrones, Flash, Arrow, Gotham & Mr. Robot to name a few
  • Following Quora - I read a lot and answer quite a few questions as well.My Quora
  • Reading Novels - Mostly read romantic novels. Just started mythological fictions - Palace Of Illusions is my favourite.
  • Building Websites, Just like this one. Tried hands on a few others as well
  •       ROBOTSAV
          ELECTRICAL ENGINEERING SOCIETY
          BASANTI - THE ACTROID



    Copyright @Akshay Kumar | Last Updated on 12/30/2017

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