Research
Human-in-the-Loop based Robot-Interaction (HRI) is a growing field where humans(s) are actively in control of an autonomous process, which helps to mitigates the downsides of uncertainties. The degree and mode of interaction(s) may vary widely depending on the task. Our current research involves the development of a workcell system involving fixed and mobile robot manipulators and perception system for the purpose of an autonomous manufacturing.
Field-grade rovers designed to carry out work autonomously. The navigation system uses sensors, such as stereo-cameras, LiDAR, RTK-GPS, to navigate autonomously using various control modes including waypoint, line/path, vineyard, follow-me control/navigation. Several tools have been developed including blower and variable sprayer. Our current research focuses on multi-rover control where multiple rovers interact together and dock autonomouselt to charage, refuel, load/unload. An automated seedling-planter is currenrly in development.
Publications:
[ pdf ] Variable Rate Sprayer System
[ pdf ] R-R Manipulator Using Variable-stiff Joints for Safe Human-Robot-Interaction
[ pdf ] A Human-centric Architecture For Assistive Cobot Workflow
[ pdf ] Modular and Reconfigurable Multiple Drive-unit Based Rover - Design and Control
[ pdf ] Variable Stiff Joint for Compliant Robot
[ pdf ] Modelling and Applications of a Variable Spring Series Elastic Actuator
[ pdf ] Modelling of an intention based upper-limb exo-skeleton
[ pdf ] Design and fabrication of an intention based upper-limb exo-skeleton