Bio-Inspired Robotics, Robot Motion Planning Strategies, Aerodynamics of Micro-Air-Vehicles
Master's Thesis
Design and optimization of a 6-bar mechanism for a Flapping Wing MAV. Thesis Advisor : Prof. Anupam Saxena, IIT Kanpur, Aug’14-Present Abstract : The project deals with the development of an accurate mechanism for the actuation of the wings of a robotic dragonfly. I am currently working on two mechanisms simultaneously, one based on a 6-bar mechanism and
other on the slider-crank mechanism. Potential flow theory has been employed to predict the forces on the wing. The model adopted for force prediction also accounts for the lift generated due to leading edge vortices and wake capture.
A prototype was recently manufactured the video for which has been presented below.
Undergraduate Research
B. Tech. Project
Design and prototyping of a bio-mimetic Robotic Fish. Project Advisor : Prof. Laxmidher Behera, Dept. of Electrical Engineering, IIT Kanpur, Aug’13-March’14 Project Sponsor :Intelligent Systems Laboratory, IIT Kanpur Abstract : Biomimetic robot fish design is a hot area of research today around the world.
The physical design of the robotic fish was obtained by trying to mimic the external anatomical features of a Tuna.
To mimic the undulation of the fish posterior, a novel combination of manipulator link mechanism and a
flexor-extensor mechanism was devised. The mechanism was designed in the way that greatly simplifies the control
of the proposed link mechanism enabling efficient mimicing of the tail undulation of a fish. Publication : Click Here
Summer Internship ’13 : University of Pittsburgh
Target Tracking in Shadow Regions using Distributed Robot Search for Urban Search and Recsue Operations Project Advisor : Prof. Michael Lewis, School of Information Sciences, University of Pittsburgh Abstract : Given a rough initial estimate of targets in various unexplored areas of a map in an Urban Search and Rescue Mission, the concern of this project was to compute
and track the number of targets(survivors - static or moving) in those areas using real time information updates provided by a swarm of on-site semi-autonomous ground robots.
The complexity of the project lied in the fact that the unexplored regions constantly change as the ground swarm of robots explores the site. Novel methods are formulated and implemented to account for
these dynamic changes and an upper and lower bound on targets based on the available information is computed for all the shadow regions. This information is crucial for deciding the
future path for robots during the course of exploration such that areas having higher probability of finding targets are explored first with a minimal response time.
Boeing - IIT Kanpur Autonomous Navigation System, Abhyast Phase III
Development of an autonomous obstacle avoiding robot with a unique jump capability.2012 Project Advisor : Prof. Shantanu Bhattacharya, IIT Kanpur Abstract : Abhyast is a joint collaboration between Boeing and IIT Kanpur to strengthen research ties between the two organizations.
Phase III was aimed at building an autonomous obstacle avoiding robot with a unique capability to make a frog like jump in motion to overcome obstacles with low heights.
The robot was equipped with a range of sensors like a Hokoyu laser scanner, 9 DoF IMU and GPS along with a Panda Board providing onboard computational power.
A twin torsion spring jumping unit, designed and manufactured at IITK (along with the latching assembly) can store
potential energy enough to propel the dry weight of the robot to a height of 12 inches.
Detailed reports and videos on the project can be found on the project website below. Project Website :Click Here