Led a team to create an award-winning Quadruped Robot with dynamic locomotion capabilities such as walking, turning,
trotting, and slope climbing. We optimized limb trajectories through CAD simulations and utilized FDM and SLA 3D
printing for precise fabrication. By implementing multithreading on an ATmega controller, we achieved effective control
of twelve servo motors, securing a first-place victory at GUJCOST Robofest and earning a design and utility patent.
Developed a software module using the Agile Iterative Process to simulate a multi-robot system with C++, ROS2, and the
Google Test Framework. Integrated CI/CD pipelines for seamless software deployment, successfully simulating over 25
robots with 99% geometric alignment accuracy and 89% code coverage.
Applied A* and Dijkstra algorithms for path planning on a TurtleBot3 Burger, both in simulation and hardware. Implemented
the RRT algorithm in Python for dynamic obstacle avoidance with real-time replanning, and executed motion planning for
robot manipulators using OMPL
Developed a deep learning model using the Inception V3 CNN encoder to process live video feeds and generate vocal
descriptive captions, achieving 92% accuracy for real-time accessibility for visually impaired individuals. Enhanced
model confidence and reliability with Block Static Expansion and multi-headed attention vectors, significantly improving
the accuracy of real-time descriptions.
Engineered a mobile robot with autonomous navigation and obstacle detection, integrating IMU, Raspberry Pi, Arduino, Pi
Camera, and ultrasonic sensors for real-time object recognition and avoidance. Utilized PID control for precise
localization based on encoder data and programmed efficient pick-and-place operations, achieving an 80% success rate
with color-coded blocks. Soldered a custom PCB for electronics setup and power distribution.
Conducted a comprehensive evaluation of 2D mapping algorithms, including HectorSLAM, Cartographer, and Gmapping. Mapped
a 20,000 sqft hostel floor to validate the study, providing actionable insights for optimal mapping algorithm selection.