Projects

Amazon Picking Challenge                  
January 2013 – Present   @   The MCube Lab, Massachusetts Institute of Technology, Cambridge
  • I am a member of Team MIT for Amazon Picking Challenge. I am responsible for developing algorithms for picking and retrieving a desired object from a shelf while considering the constraints in the environment and uncertainty in the pose of the obejct.
  • Team MIT stood 2nd in the Amazon Picking Challenge 2015 held at IEEE International Conference onRobotics and Automation (ICRA), Seattle,US and overall 3rd in the 2016 challenge held at Robocup 2016, Leipzig, Germany
CNC Mini Lathe Design               
February 2013 – May 2013   @   Massachusetts Institute of Technology, Cambridge
  • As a part of 2.720 course at MIT, we designed and built a CNC mini lathe with precision of upto 50 microns.
  • The machine generates G code file directly from SolidWorks model and 'turns' the model into reality.
Data-driven Optimization of Manipulation Actions   
November 2013 – December 2013   @   Carnegie Mellon University, Pittsburgh
  • Artificial Intelligence and Machine Learning course project at CMU.
  • Used Gaussian process to optimize parameters for dynamic regrasp actions to maximize the probability of success
  • Data from large number of regrasp trials with different parameters and classification as success or failure is used.
Shingling Robot                      
January 2013 – May 2013   @   Carnegie Mellon University, Pittsburgh 
  • Mechatronic Design course project at CMU.
  • Designied a fully autonomous robot which can carry shingles, follow marking on a roof, place shingles on their planed position and even nail them to the roof. 
  • The project involves application of Mechanical Design, Embedded Control and Path Planning skills
Automated Chemical Processing System          
June 2012 – August 2012   @   Nisha Metal Industries, Kolhapur
  • It was a self-initiated project implemented at Nisha Metal Industries, Kolhapur.
  • Automated a chemical post-processing of aluminum utensils. 
  • Variable speed roller-conveyor, separate stations for chemical washing, clean water washing and drying processes are made.
Design and Development of Patient Transfer Mechanism       
January 2012 – June 2012    @   Indian Institute of Science, Bangalore
  • Designed a movable fork lift like mechanism which slides into the corrugations of custom designed air mattress to lift a human off the bed
  • Using this mechanism a single operator can carry and transfer a hospital patient  to different places like Operation Theaters or to different bed.
Thermo-Mechanical characterisation of NiTi Shape Memory Alloys         
June 2011 – August 2011   @   Indian Institute of Science, Bangalore
  • Dynamic Mechanical Analysis and EBSD image analysis of NiTi alloys were performed.
  • Simulation of material grain orientation flow under deformation was developed using MATLAB.
Canoe Handling Mechanism           
January 2010 – May 2010   @   College Of Engineering Pune
  • Designed a mechanism for the boat club of my college to transfer a canoe from the storage room to the river bank. 
  • Designed mechanical linkages and structures with appropriate motors, power drives and transmission. 
  • Devised a sequential control system using ladder logic for a PLC to automate the canoe handling mechanism.