├── assets └── img │ ├── favicon.ico │ ├── icons │ ├── Pytorch.png │ ├── c++.png │ ├── casadi.png │ ├── html_css.png │ ├── matlab.png │ ├── photoshop.png │ ├── python.jpg │ ├── python.png │ ├── ros.png │ └── solidworks.png │ ├── me_current.jpeg │ └── projects │ ├── RL │ ├── 4_572_256_2.png │ ├── cartpole_RL.gif │ └── mountaincar.gif │ ├── animation2.gif │ ├── biped │ ├── cartpole.gif │ ├── flat_walk_10.gif │ ├── oflat_walk_10.gif │ ├── osin_walk_10.gif │ ├── oslope_walk_10.gif │ ├── ostairs_down_walk_10.gif │ ├── ostairs_walk_10.gif │ ├── sin_walk_10.gif │ ├── slope_walk_10.gif │ ├── stairs_down_walk_10.gif │ └── stairs_walk_10.gif │ ├── path1.gif │ ├── path_human.gif │ ├── path_sin_40_human.gif │ ├── path_slope_1by2_N_40_human.gif │ └── underactuated │ ├── cart_lqr.gif │ ├── d_i_lqr.gif │ ├── min_time_value_iter.gif │ ├── quad_value_iter.gif │ ├── quadrotor_lqr.gif │ ├── trajopt_quad2d.gif │ ├── trajopt_quad2d.png │ └── vibPen_const_ang_vel.gif ├── css └── styles.css ├── index.html 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46 | Aditya 47 | Shirwatkar 48 |

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51 | Reconfigurable Robotics   ·   Legged Robotics   52 |

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I am a senior undergraduate student in the Department of Mechanical Engineering 55 | at Visvesvaraya National Institute of Technology (VNIT), Nagpur 56 | who is an aspiring robotics researcher and wishes to make the world a better place through the advancements in Robotics and AI 😇 57 |

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  • 🚀 My current research interests lie in developing robust control algorithms for dynamic and agile locomotions of robots in challenging environments. 60 |
  • 🔭 I’m currently working on developing a full stack reconfigurable robotic system along with controllers for robust navigation of quadrupeds. 61 |
  • 💬 I am happy to share my experiences in robotics and would like to hear about yours too 62 |
  • ⚡ Check out some of the projects of our growing community that I'm part of at - IvLabs 63 |
  • 🌀 I'm also involved with a team of legged robot enthusiasts at - Stoch Lab 64 |
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74 | 75 | Resume 76 |
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Projects

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Gait and Trajectory Optimization for Bipeds

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at IvLabs, VNIT Nagpur
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  • Implemented the direct collocation method of trajectory optimization on 93 | the planar five-link underactuated system 94 |
  • Generated the trajectories by a non-linear program in python using the 95 | CasADi toolbox and MATLAB 96 |
  • Implemented optimal dynamic walking for Human and Ostrich gaits forthe 97 | system on a sinusoidal, sloped, staired and flat terrains 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 |
    TerrainHuman GaitOstrich Gait
    SinusoidalBiped Trajectory OptimizationBiped Trajectory Optimization
    StairedBiped Trajectory OptimizationBiped Trajectory Optimization
    SlopeBiped Trajectory OptimizationBiped Trajectory Optimization
    FlatBiped Trajectory OptimizationBiped Trajectory Optimization

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  • Generated optimal trajectory in a cart-pole system, to balance the pole 128 | upright 129 | Biped Trajectory Optimization 130 |
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Optimal Control Algorithms

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137 | In this repository I implemented optimal control algorithms on 138 | some insteresting systems as well as tried to solve some interesting problems 139 |
140 | [Github] 141 |

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  • Trajectory Optimization on a 2D-Quadrotor in a custom OpenAI gym environment
    • 144 | 2D-Quadrotor 145 | 2D-Quadrotor 146 | 147 |
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  • LQR on a 2D-Quadrotor in a custom OpenAI gym environment
    • 150 | 2D-Quadrotor 151 | 152 |
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  • LQR on a CartPole in a custom OpenAI gym environment
    • 155 | Double Integrator 156 | 157 |
    158 | 159 |
  • LQR on Double Integrator in a custom OpenAI gym environment
    • 160 | Double Integrator 161 | 162 |
    163 | 164 |
  • Value Iteration on LQR
    • 165 | Double Integrator 166 | Double Integrator 167 | 168 |
    169 | 170 |
  • Linear Feedback Cancellation on a Pendulum whose base is vibrating at constant 171 | angular frequency horizontally, to make the pole rotate at constant angular velocity
    • 172 | Vibrating Pendulum 173 | 174 | 175 |
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CS 287: Fall 2019, Assignments

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Reinforcement Learning

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195 | [Github] 196 |

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  • DQN on CartPole
    • 201 | CartPole 202 | Reward 203 | 204 |
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  • Q-Learning
    • 207 | MountainCar 208 | 209 |
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Go to Goal Behavior using PID

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Experience

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Project Intern

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IvLabs, VNIT Nagpur
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SummerIntern under Dr. Shital S. Chiddarwar 230 |

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  • Developed an autonomous surveillance mobile robot that functions as a 233 | patrolling unit forintrusion detection. 234 |
  • Integrated the hardware stack of Raspberry Pi Zero W, Camera Module, 235 | Ultrasonic sensor, and PIR sensor, with a software stack of an Android 236 | Application and Google’s Firebase. 237 |
  • Capable of detecting human intrusion up to 6m and transmitting 238 | real-time video feed to the remote Android Application through the 239 | Firebase and teleoperate the same. 240 |
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June 2019 - July 2019
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Skills

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Programming Languages

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Familiar with
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Softwares

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Research Tools and Libraries

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Education

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Visvesvaraya National Institute of Technology (VNIT)

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Bachelor of Technology
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Mechanical Engineering
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Current GPA: 7.98

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August 2018 - May 2022
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Interests

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I like to spend my free time appreciating the art of Anime and 329 | Video Games (Yeah, art is subjective)
330 | Apart from this, I enjoy most of my time doing sketching, painting 😊 331 |

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383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | -------------------------------------------------------------------------------- /js/scripts.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Start Bootstrap - Resume v6.0.1 (https://startbootstrap.com/template-overviews/resume) 3 | * Copyright 2013-2020 Start Bootstrap 4 | * Licensed under MIT (https://github.com/StartBootstrap/startbootstrap-resume/blob/master/LICENSE) 5 | */ 6 | (function ($) { 7 | "use strict"; // Start of use strict 8 | 9 | // Smooth scrolling using jQuery easing 10 | $('a.js-scroll-trigger[href*="#"]:not([href="#"])').click(function () { 11 | if ( 12 | location.pathname.replace(/^\//, "") == 13 | this.pathname.replace(/^\//, "") && 14 | location.hostname == this.hostname 15 | ) { 16 | var target = $(this.hash); 17 | target = target.length 18 | ? target 19 | : $("[name=" + this.hash.slice(1) + "]"); 20 | if (target.length) { 21 | $("html, body").animate( 22 | { 23 | scrollTop: target.offset().top, 24 | }, 25 | 1000, 26 | "easeInOutExpo" 27 | ); 28 | return false; 29 | } 30 | } 31 | }); 32 | 33 | // Closes responsive menu when a scroll trigger link is clicked 34 | $(".js-scroll-trigger").click(function () { 35 | $(".navbar-collapse").collapse("hide"); 36 | }); 37 | 38 | // Activate scrollspy to add active class to navbar items on scroll 39 | $("body").scrollspy({ 40 | target: "#sideNav", 41 | }); 42 | })(jQuery); // End of use strict 43 | --------------------------------------------------------------------------------