Portfolio
Husky V3 - MultiModal Quadruped
Project Aim
To experimentally validate morphing wing flight control through banking turn maneuvers, develop print-in-place joints eliminating assembly complexity, and redesign electronics integration for enhanced structural protection in the Aerobat flapping wing platform.
Summary
Husky V3 advances the multi-modal quadrupedal platform by addressing critical structural deficiencies found in Husky Carbon V2. Key innovations include a novel print-in-place (PIP) articulated ankle joint featuring optimized 33-degree conical geometry that eliminates post-print assembly and bearing installation while achieving 23-25 kg load capacity, custom bearing-embedded motor casings enabling integrated wire routing through designed channels within leg structures, and a refined torso architecture utilizing dual carbon fiber rods (12mm OD, 10mm ID, 1mm wall) achieving 20% mass reduction while eliminating torsional flexure. Iterative design refinement combined with systematic load testing validates robust performance across operational conditions. The platform demonstrates successful morphing between standing, crouching, morphed, and flying modes, establishing Husky V3 as a practical field-deployable system for advanced legged-aerial locomotion research.
Aerobat - Bioinspired Morphing Robot
Project Aim
To validate dynamic morphing wing flight control strategies through experimental banking turn maneuvers, develop manufacturing-efficient print-in-place joint designs eliminating assembly complexity, and redesign electronics integration for improved structural protection and operational reliability in the Aerobat flapping wing platform.
Summary
Aerobat is a bioinspired tail-less flapping wing drone featuring 14 body joints that enable dynamic wing morphing for flight control. Contributions span three critical areas: experimental validation of banking turn maneuvers achieved through structure response optimization where coordinated low-power primer actuation shifts wing geometry to generate controlled lateral forces, pioneering print-in-place (PIP) living hinge joint design exploiting 3D printer overhang capabilities to create functional articulated joints without post-print assembly, and comprehensive electronics redesign including protective motor guards and optimized component mounting improving system robustness. Experimental work involved complete physical test execution, high-fidelity data acquisition and processing, and systematic refinement of flight data for comparative analysis validating morphing-based control authority in untethered flight conditions.
Sense Dial - Smartwatch for Blind
Project Aim
To develop an accessible smartwatch with tactile feedback and navigation assistance for visually impaired users.
Summary
This assistive technology device integrates a TF-mini S Lidar for sensing and collision avoidance, with a refreshable Braille display created using 6x12 DC solenoid actuators. The system includes multiple alert mechanisms including push button for SOS, vibration motor, and audio buzzer. The prototyping involved implementing MOSFET-based switching circuits to drive the solenoid actuators, as microcontroller pins couldn't provide sufficient current for direct actuation.
Virtual Painter - Mediapipe
Project Aim
To create an intuitive hand gesture-based digital painting interface using computer vision.
Summary
This application integrates hand gesture recognition with real-time drawing capabilities using OpenCV and MediaPipe frameworks. Users can draw, erase, take screenshots, and clear the canvas through natural hand movements on live video feeds. The system features multiple modes including draw mode, erase mode, and settings mode for customizing tip size, eraser size, and color selection, providing an intuitive and immersive digital creation experience.
Foot Pressure Measuring System
Project Aim
To design a pressure sensing unit which gives values of the pressure applied on different areas of the foot using multiple sensors.
Summary
Developed custom Velostat-based pressure sensors through experimental optimization of size, orientation, and thickness (finalized at 0.1mm). The sensors utilize conducting copper strips with plastic insulation to prevent interference from static currents. A simple voltage divider circuit with 1k ohm resistor enables pressure measurement. Two testing approaches were implemented: array matrix and multi-channel configurations. The final design employs multi-channel sensors with pressure data visualized in a sole-shaped plot for intuitive pressure distribution analysis.
Turtle-Bot with Lidar & Real-time Mapping
Project Aim
To implement gmapping SLAM algorithms with a TURTLEBOT3 using Raspberry Pi and Lidar sensor.
Summary
Configured a TurtleBot3 platform with Raspberry Pi 3B+, SBC controller board, and Lidar sensor for autonomous mapping. The ROS environment was set up to handle motion control, data extraction, and Lidar data publishing. Implemented Gmapping SLAM algorithm using ROS drivers to process real-time sensor data and generate accurate 2D maps of the surrounding environment, enabling autonomous navigation and localization.
More projects on Github
I love solving real world problems