Projects and Competitions
Projects
Visual Servoing - Precise Assembly
I developed a visual servoing package for a FANUC LR Mate 200iD/4S industrial manipulator integrating perception and control for object-centric manipulation and servoing. Designed a hybrid IBVS-PBVS visual servoing controller and implemented the task-level architecture using Py-Trees Behavior Trees for modular manipulation workflows.
Fanuc LR Mate ROS2 Driver: ROS2 Driver Repo
Visual Servoing Pkg: Visua Servoing Pkg
Motion Planning Package (MPKG)
I developed a sampling-based motion planning package for robotic manipulators, implementing RRT and RRT* algorithms from scratch for high-dimensional robot configuration space. Integrated collision checking, nearest-neighbour search, and shortcut-based path smoothing to generate collision-free path, with visualization.
Motion Planning Pkg: MPKG Github
SCARA Robotic Arm
I developed an autonomous SCARA robot capable of picking parcel packages from a tote and placing them on a conveyor in a warehouse environment. The entire operation is hardcoded in Python, and the robot uses the YOLOv8 object detection algorithm to accurately detect parcels.
This project provided me with hands-on experience in applying inverse kinematics for a 2DOF robotic arm and integrating various hardware components, such as cameras and robotic arms, with software to perform specific tasks effectively.
For more information check: Project Repo
BCN-3D Moveo Robotic Arm
My team and I built the open source BCN-3D Moveo robotic arm. Where I contributed by developing the software part in this project. I developed the Moveo model in Robotics Toolbox which enabled IK, FK, and trajectory planning algorithms. I have used ROS1 framework the communication between the different sub-systems.
For more information check: Project Repo
Robotic Manipulators (Fanuc Robotic Arm)
I worked on developing the robot model and high level software control for Fanuc Robotic arm (LR Mate 200iD 4s model). Documentation and demo can be seen here: Project Repo .
Competitions
RoboCup ARM Challenge 2024 - Finalist (Team: Log Robotics)
I developed the complete perception and control stack for the RoboCup ARM Challenge 2024. The objective was to pick and sort objects such as bottles, cans, and pouches based on their color and label. I utilized MATLAB tools to build the project’s code base, incorporating a custom fine-tuned YOLOv4 object detector and object pose estimation through Principal Component Analysis (PCA) for the perception stack.
My submission was selected as one of the top 6 finalists in the 2024 competition.
For more information check: Submission Video
F1TENTH Sim Racing - Phase 1 Qualified (Team: Log Robotics)
I developed a wall-following algorithm for the 1st F1Tenth Sim Racing League. The algorithm was implemented using ROS2 and Python.
My docker image of the algorithm can be found here: My docker repo Link
Qualification round performance: Link | Demo Video: Link
Autonomous Drones
I have experience working on the computer vision component of an autonomous drone, including some drone control using the DroneKit library. My work primarily involves simulating YOLOv8 algorithms in a Gazebo environment, with a focus on basic object tracking and detection tasks.
For more information check: Project Repo