Projects

Template model inspired task space learning for robust bipedal locomotion
A hierarchical framework for bipedal locomotion that combines an RL-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL) controller to track the desired task space trajectories.
Template model inspired task space learning for robust bipedal locomotion
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion
A novel model-free reinforcement learning (RL) framework to design cascade feedback control policies for 3D bipedal locomotion.
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion
Simulation of 2R planar robot using Gazebo and ROS
A 2R planar robot is simulated using Gazebo and ROS considering different values of height and mass for each robot’s link and different initial position of the joints. The dynamic behavior of the robot and its response to gravity is analyzed for each different setup of kinematic and dynamic conditions.
Code
Simulation of 2R planar robot using Gazebo and ROS
Trajectory generation for quadruped robot leg
Implementation of trajectory generation for a prototype leg using inverse kinematics, cubic splines and Arduino.
Code
Trajectory generation for quadruped robot leg