Abhishek Sankar
My Projects
Exoskeleton Machine Learning (Diffusion Policy)
Implemented an Action Diffusion imitation learning pipeline for lower-limb exoskeletons.
EKF SLAM from Scratch
Developed a feature-based EKF SLAM package in ROS2 for a TurtleBot3 using C++.
Robot Light Painter
Programmed a TurtleBot3 robot to create Light Paintings using a Motion Capture system for positional feedback.
Stereo Visual Odometry
Developed a visual odometry pipeline to estimate vehicle path using stereo image data using the KITTI dataset.
KUKA youBot Mobile Manipulator
Simulated a pick-and-place action using the KUKA youBot in CoppeliaSim.
Multi-Body Physics Engine
Simulated the multi-body physics of impacts with external forces for a dice-in-a-cup system.
Autonomous Mars Rover
Built a fully autonomous 50kg Mars Rover with a 6 DOF Robotic Arm for the University Rover Challenge (URC) 2022 competition.
Franka Plays Hangman
Using robot manipulation, admittance control, computer vision, and optical character recognition (OCR) to play word games with the Franka robot arm.
Decentralized Control of Swarm Robots
Implemented decentralized control algorithms for swarm robots inside a custom simulation environment.
High Precision Robotic Actuator
Designed and tested strain wave/harmonic drive gearboxes for high gear reduction robotic actuators.