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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Hello there, I'm Divyansh
About me
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Posts
Screw Theory: Modeling Manipulator
Published:
Screw theory is a mathematical framework to analyze and describe rigid body motion in 3D space. It elegantly connects the combined linear and rotational motion about same axis observed in a physical screw to rigid body motion. In addition, it gives better physical understanding of singularities compared to DH parametrization where the maths do not perfectly translate to geometric interpretation. In Screw theory, in case of singularities Screw Axis aligns or coincides with each other thus loosing a DOF.
Reinforcement Learning: Introduction to RL with K-Bandit Problem
Published:
Reinforcement learning (RL) is learning what to do in different situations as to maximize a numerical reward. Now, what distinguishes RL from other types of learning is - learner is not told which actions to take, but instead learner must discover which action / series of actions will yield the most cumulative reward in some time-period. For example, a master chess player makes a move. The choice is informed by planning, anticipating possible moves and countermoves of the opponent and by judgement of the desirability of particular pieces on the board.
portfolio
Manipulator Control - Task and Motion Planning Algorithm
Published:
Self-learning project in which I’m building the task and motion planning (TAMP) pipeline for pick n place task in cluttered environments. Skills: C++, MuJoCo, Motion Planning, Behavior Trees, Manipulator Kinematics, Optimization, Reinforcement Learning, URDF Files
Design and Control of Non-Linear Series Elastic Actuator (SEA) - Cable Drive
Published:
A novel differential elastic actuator design with a cable-driven mechanism to enable precise force control over a wide range [1–200N]. Skills: Python, Matlab, Simulink, CAD, Kinematics and Dynamic Modeling, Mechanisms, Control Theory, PID Control, Observer System, State-Space, Motor Control, 3D Printing
Design and Control of Ankle Exoskeleton
Published:
Built an Ankle Exoskeleton which is lighter, have passive compliance to allow natural joint movement and features novel actuator for near zero-impedance for backdrivability. Skills: CAD, Python, Object-Oriented Programming, State-estimation, Kalman Filter, Finite State Machines, CNC-Machining, Composites, 3D Printing
Data Driven Control Design- Deep Learning based Task-Agnostic Controller
Published:
Developed a subject and task-agnostic controller using deep learning model utilizing wearable sensor data, enabling use of exoskeletons outside lab settings. Skills: Python, PyTorch, TensorFlow, Machine Learning for Time-Series Data (LSTM, TCN, FCNN), Bayesian Optimization, Data Processing and Analysis
Robot Sensing and Navigation
Published:
We have examined the sensors and mathematical techniques for robotic sensing and navigation with a focus on sensors such as cameras, GPS, IMUs, and laser scanners. Skills: ROS, Python, Matlab, Sensor Noise Analysis - GPS, IMU and LiDAR, Signal Processing, Computer Vision, Camera calibration and Image Processing, SLAM
Chitrak-Quadruped
Published:
To improve efficiency of a legged robot, in particular quadruped we ideated with using self-locking actuators for each joint to achieve static stability. Skills: CAD, MATLAB, Finite Element Analysis, Fabrication, Linkage Mechanisms, Bezier Curves, Trajectory Generartion
Redesigned Crutches
Published:
To minimize the risk of crutch palsy and similar diseases, I redesigned crutches to offload the upperbody and transfer 60% of loading forces to pelvis region, thus reducing the intense pressure at one location. Skills: CAD, Matlab, Simulink, FEA, Biomechanics, Fabrication and Assembly, 3D Printing
PredicKOA - Low-cost inertial motion capture system
Published:
Built a device / methodology to predict the onset and track the progress of Knee Osteoarthritis in elderly using wireless low-cost inertial sensors. Skills: C, Sensor System IMUs, Microcontroller programming, Circuit Design, Signal Processing, Machine Learning (SVM), Motion Capture
publications
Paper Title Number 1
Published in Journal 1, 2009
This paper is about the number 1. The number 2 is left for future work.
Recommended citation: Your Name, You. (2009). "Paper Title Number 1." Journal 1. 1(1). http://academicpages.github.io/files/paper1.pdf
Paper Title Number 2
Published in Journal 1, 2010
This paper is about the number 2. The number 3 is left for future work.
Recommended citation: Your Name, You. (2010). "Paper Title Number 2." Journal 1. 1(2). http://academicpages.github.io/files/paper2.pdf
Paper Title Number 3
Published in Journal 1, 2015
This paper is about the number 3. The number 4 is left for future work.
Recommended citation: Your Name, You. (2015). "Paper Title Number 3." Journal 1. 1(3). http://academicpages.github.io/files/paper3.pdf
talks
Talk 1 on Relevant Topic in Your Field
Published:
This is a description of your talk, which is a markdown files that can be all markdown-ified like any other post. Yay markdown!
Conference Proceeding talk 3 on Relevant Topic in Your Field
Published:
This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.