Ganesh Kumar Hari

Development of a complete pipeline for an autonomous Agri robot from low level control to high level behavioral planning. Implementation of perception pipeline and navigational pipeline in ROS2. Design behavior trees for high level behavioral planning. Improvement in the existing navigation controller and swerve controller (low level) and writing new controller plugins. Created different models of the rover and the environment for simulation in Gazebo/Ignition

Development of several robotics system like drones and rovers right from the scratch to the final product along with the implementation of autonomous control software. The project starts with the selection, testing and validation of hardware (motors, sensors like IMUs, Lase scanner, depth sensors , cameras, controllers, RTK GPS e.t.c.). After integration of the entire system, components of autonomous control algorithm are being tested like EKF fusion and SLAM. The present work is mainly focused on the evaluation of different localization and mapping algorithms i.e. Lidar based SLAM, VisualSLAM or fusion of both. Though the EKF fusion based estimation has been tested in the real field, most of the evaluation of localization algorithms are done in a simulated framework of GAZEBO and ROS which is then extended to the real field soon.

Safe and friendly human robotics interaction. Thesis Title: "Design, modelling and control of inherently compliant actuators in agonistantagonist anthropomorphic configuration". The research project aims at design and model inherently compliant actuators for anthropomorphic systems. The first part of the work focuses on the choice of design and construction of the actuator and the integration into the robotic system. In parallel, a model of the actuator dynamics and the model-based controller (MPC and optimal control) have been synthesized and integrated within the software environment developed by the team. Using the mechanical system and the numerical simulator, tests are done in order to evaluate the potential of this actuator and compare with the human body capabilities.