Research / Publications & reports
The methods, architecture and development behind the work. Journal publications and repository technical reports are identified separately.
Research experience / Robotics Research Intern
At the IITGN Robotics Lab, I worked with Aditya Jadav and Archie Veera on tactile-based ball balancing using a half-humanoid platform.
I developed Python control pipelines as the ball-balancing work progressed from single-axis vision-based balancing to two-axis pitch-roll control with dual load-cell sensing. The work combined OpenCV, Intel RealSense, HX711 interfaces and Dynamixel actuators.
My work included PD/PID control, online system identification, adaptive gain scheduling and backlash compensation. OSRS records the shared platform and team contributions; its published simulation results are kept separate from physical testing.
Explore the system and my contributionJournal publication / 24 April 2026
Design and fabrication of an 18-degree-of-freedom hexapod, with mechanical structure, gait planning and control architecture documented in a four-page paper.
IJIRT · Volume 12, Issue 11 · pp. 12393–12396Read the research recordRepository technical report / Repository report · 2026
A report on the OSRS ball-balancing module, connecting vision and force estimates, adaptive control and online system identification.
OSRS project documentationRead the research recordResearch in practice
The related project pages connect the research to CAD, code, architecture and development scope.
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