Abhishek Sankar My Projects EKF SLAM from ScratchDeveloped a feature-based EKF SLAM package in ROS2 for a TurtleBot3 using C++. KUKA youBot Mobile ManipulatorSimulated a pick-and-place action using the KUKA youBot in CoppeliaSim. Robot Light PainterProgrammed a TurtleBot3 robot to create Light Paintings using a Motion Capture system for positional feedback. Franka Plays HangmanUsing robot manipulation, admittance control, computer vision, and optical character recognition (OCR) to play word games with the Franka robot arm. 2D Multi-Body Physics EngineSimulated the multi-body physics of impacts with external forces for a dice-in-a-cup system. Decentralized Control of Swarm RobotsImplemented decentralized control algorithms for swarm robots inside a custom simulation environment. Autonomous Mars RoverBuilt a fully autonomous 50kg Mars Rover with a 6 DOF Robotic Arm for the University Rover Challenge (URC) 2022 competition. High Precision Robotic ActuatorDesigned and tested strain wave/harmonic drive gearboxes for high gear reduction robotic actuators.