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Research Projects

My research projects allowed me to explore the truly multi-disciplinary nature of the field.  My research work has covered Soft Robotics, Robotic Grasping, Computer vision, and mobile manipulation.

MultiModal Soft Robotic Gripper with Variable Stiffness Material for Food Handling

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Description:

We developed a Soft robotic gripper that can generate multiple grasp poses.  It successfully grasped objects of a wide range of sizes, shapes, and stiffness.

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Contribution:

  • Developed a novel actuator that can generate three motions. Bending, Twisting & Extension.

  • Developed a Soft Robotic Gripper which can generate Multiple grasp poses

  • Analytical modeling of a Twisting Fiber reinforcement actuator

  • Grasp Strategy for a Multi-Modal soft robotic gripper

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Kawada Robotics Collaboration Project

Description:

  • Kawada Robotics, a popular robotics company in Japan, requested a system that can tell the distance of objects on the screen when the mouse pointer is clicked on it. 

  • The aim was to use a teleoperated mobile robot for construction site inspection and find the distance of irregularities through the robot.

  • I developed the system primarily with open CV and Real Sense SR700.

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