Responsibilities include:

• Worked on a project aimed at performing bimanual manipulation tasks
• Used an optimization-based impedance control framework to enable effective manipulation.
• Employed a Proximal Policy Optimization (PPO) model from Stable Baselines to adjust the stiffness parameter for higher trajectory accuracy.
• Submitted the work for consideration at IEEE ICRA 2025.

Responsibilities include:

• Spearheaded the development of an obstacle detection system for drones utilizing the Realsense D455 depth camera with python, numpy and OpenCV.
• Conducted rigorous testing across diverse lighting conditions and scenarios to ensure optimal performance and reliability.
• Was responsible for the integration of the obstacle avoidance stack to the drone testbed using MAVROS, ROS.
• Formulated and executed a suite of real-world test cases, specifically tailored to agricultural environments, to validate system effectiveness and accuracy.

Responsibilities include:

• Designed the simulation setup for 6 DOF Arm Manipulation of various objects using ROS, Gazebo, MoveIt.
• Implemented GraspNet for end effector pose estimation while picking up uncommon objects.
• Instrumental in the interfacing of Gazebo, MoveIt, OpenCV, and GraspNet for a functional simulation setup.

Responsibilities include:

• Designed the foot of a quadruped and later 3D printed the part(made of TPU).
• Tested the response of the foot when in contact with the ground using a Force Sensing Resistor (FSR)
• Redesigned the Heat Sink for the motor drivers to reduce the effective temperature by 40 degrees Celsius.