About | Experience | Projects | Publications | Contact

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About Me

Hi there! I’m Priyansh, and I’m a Robotics Engineer/Researcher.

Education

• MS by Research, IIIT-Hyderabad.

Experience

ChargeKart

An autonomous charging station that can be requested for your car in a gated parking.

Role:

Co-founder, Robotics Head
Developed and prototyped the Robot and along with ROS integration with NAV2.

OpenDroid

USA based home assisstive Mobile Manipulator.

Role:

Founding Team
Developed and designed the Mobile Manipulator along with procurement and integration of ROS( navigation + manipulation). Integration with LLM for basic arms movement. Designing behaviour for Robot for Home environment. (Example command/ use cases: Fetch an apple, etc) \

Projects

Mobile Manipulation

• Whole Body Control using ROS framework.
• Setting up of Navigation stack and low-level controller for the entire system.
• Performing tasks like Door Opening and other non-prehensile manipulation using Mobile Manipulator.
• Non Prehensile Manipulation using Optimisation frameworks.

Residual Learning for Manipulator Actions

• Implementation of Residual Learning using Neural Networks to bridge the sim-to-real gap in manipulator actions (non prehensile action:Striking), reducing control errors.

Visual Odometry

• Visual Odometry using Stereo and RGBD cameras for indoor and outdoor environments.
• Integrated Light Glue, a feature matcher, with the VO algorithm.

Trajectory Optimization

• Trajectory Optimization using sampling-based MPC for Robot Path Planning.
• Implemented Model Predictive Path Integral Update Rule for a time horizon.

Model-Based Controllers

• Implementation of Gravity Compensation, Force-Torque, Hybrid-Force-Position, Null-Space, and Operational Space Controllers on manipulators.

Publications & Thesis

📚 Thesis

Title: Planning and Control Strategies for Contact-Rich, Non-Prehensile Mobile Manipulation

📝 Publications

• IEEE CASE 2024 – A Hybrid Manipulation Framework with Trajectory Optimization for Mobile Manipulators.

Courses

• Robotics Planning and Navigation
• Computer Vision
• Machine Learning
• Mobile Robotics

Contact Me

• Email: sinhapriyansh.15@gmail.com
• LinkedIn: Priyansh