Robotics — 6-DOF manipulators, from the kinematics to the metal.
I build the whole stack rather than gluing libraries together. The forward kinematics, Jacobians and IK solvers in my work are derived and implemented from first principles, then verified numerically against an independent implementation before anything depends on them. The same habit runs through the mechanical side: every criterion recomputed from the exported CAD geometry rather than from the parameters that authored it.
robotics-engineering-portfolio — what I've built
Sine-trajectory tracing on a myCobot 280 (modified-DH FK, velocity-propagation Jacobian, damped-least-squares IK — verified to ~1e-15 m against the URDF) · ARM-450, a clean-sheet 6-DOF arm designed entirely in parametric Python, 450.0 mm and 1365 g against a 1450 g ceiling, with a 60-check pre-print verification gate · ESP32 + STS3215 serial-bus servo bring-up, from a dead bus to a moving arm · ARM-450 built and running on physical hardware, tracing vertical and horizontal sine trajectories with closed-form Pieper IK and 43.5 Hz control loops.
robotics-research-portfolio — what I'm researching
Task-constrained workspace and inverse kinematics for surface tracing. A manipulator's reachable workspace is the quantity everyone quotes; the set where it can work with the tool held at a required orientation is strictly smaller, shaped differently, and full of holes. I compute that set, quantify it, and design against it.
ROS 2 Jazzy · Python · NumPy / SciPy · PyBullet · RViz · TF
Modified/Craig DH · Jacobians · DLS / Levenberg–Marquardt IK · manipulability analysis
parametric CAD in code · STEP / STL · FEA · DFM for FDM printing
serial-bus servos · ESP32 · register-level protocols · pyserial
Junior Research Fellow — Space Dynamics and Flight Control Laboratory (SDFCL), Department of Aerospace Engineering, IIT Kanpur.
Extending the task-constrained workspace analysis toward a thesis chapter, and taking the ARM-450 design from verified geometry to printed, assembled hardware — now moving on the bench with six ST3215 servos driven through an ESP32 bridge at up to 43.5 Hz control loops.
Open to PhD positions in robotic manipulation, workspace analysis and space robotics, and to robotics engineering roles.