{"id":175,"date":"2022-01-08T21:42:18","date_gmt":"2022-01-08T21:42:18","guid":{"rendered":"http:\/\/kaushikb.com\/?page_id=175"},"modified":"2022-09-04T22:26:48","modified_gmt":"2022-09-04T22:26:48","slug":"projects","status":"publish","type":"page","link":"http:\/\/kaushikb.com\/index.php\/projects\/","title":{"rendered":"Projects"},"content":{"rendered":"\n<p>Apart from my professional experiences, I have taken part in several competitions and explored other personal projects. This page will give you a brief overview of all my projects and the associated documentation.<\/p>\n\n\n\n<ul><li><a href=\"https:\/\/sites.google.com\/andrew.cmu.edu\/fpagraspnet\/home?authuser=0\">Target-pose Aware Grasping Framework<\/a> <ul><li>Developed Neural Descriptor Field (NDF)-based SE(3) equivariant grasping framework conditioned on the desired target pose with a Franka Panda arm in pybullet simulation.<\/li><li>Enabled pick and place of objects from arbitrary initial and final poses without demonstrations with a grasp success rate of 72.34%<\/li><\/ul><\/li><\/ul>\n\n\n\n<ul><li><a href=\"https:\/\/drive.google.com\/file\/d\/1aEsnXxpgdmWVm80c2PHn5Yhzflq6S4_r\/view\" title=\"https:\/\/drive.google.com\/file\/d\/1aEsnXxpgdmWVm80c2PHn5Yhzflq6S4_r\/view\">Synergistic pushing and grasping framework using self-supervised deep reinforcement learning <\/a><ul><li>Jointly trained two Densenet-121-based CNNs in a self-supervised Q-learning framework in simulation.<\/li><li>Developed scaffolding mechanism to facilitate weight fine-tuning with with a Franka Panda arm<\/li><li>Achieved grasp success rate 73% and push-then-grasp success rate of 65%<\/li><\/ul><\/li><\/ul>\n\n\n\n<ul><li><a href=\"http:\/\/kaushikb.com\/index.php\/autonomous-object-rearrangement-robot-arm\/\">Autonomous Object Rearrangement Robotic Arm (Nov 2020 &#8211; June 2021)<\/a><ul><li>Integrated perception, grasping, motion planning and control sub-systems on an autonomous object rearrangement robot.<\/li><li>Implemented a primitive failure tolerance framework to handle common edge-cases in table organization problem.<\/li><\/ul><\/li><li><a href=\"http:\/\/kaushikb.com\/index.php\/medbot-telepresence-food-delivery-sanitation-robot-for-covid-19-wards\/\">MedBot: Sponsored Project (Jun 2020-Aug 2020)<\/a><ul><li>Led system design and integration of software, electronics and mechanical systems of a WiFi-controlled food-delivery &amp; UV-sanitation service Robot for KIMS Hopitals\u2019 COVID-19 ward. <\/li><li>Executed unit, integration and acceptance testing prior to deployment in hospital ward.<\/li><\/ul><\/li><li><a href=\"http:\/\/kaushikb.com\/index.php\/hydraulically-actuated-autonomous-nurse-hyan\/\">Hydraulically Actuated Nurse (HyAN) : Undergraduate Capstone Project (Jul 2019-Apr 2020)<\/a><ul><li>Led mechanical design, fabrication and static analysis modules for lifting mechanism to carry payloads up to 175 kg.<\/li><li>Deployed Inception-v3 based deep learning model to classify safe and unsafe patient lifting poses in real-time with 97% accuracy.<\/li><li>Finished top 0.5% at Smart India Hackathon with 250,000+ students, 3000+ Institutions &amp; 200+ organizations.<\/li><\/ul><\/li><li>Biomimetic Robotic Fish: e-Yantra Robotics Competition (2019-20 Oct 2019-Mar 2020)<ul><li>Headed the design of actuation mechanism, enclosures, and PCB for robotic fish and RF controller on ground station.<\/li><li>Implemented servo motor control loop to facilitate flapping of caudal fins to achieve carangiform locomotion.<\/li><li>Finished 4th Place (top 1%) at India\u2019s largest Robotics Competition with 30000+ participants.<\/li><\/ul><\/li><li>Hungry Bird: e-Yantra Robotics Competition 2018-19 (Oct 2018-Mar 2019)<ul><li>Implemented a PID &amp; LQR controller to control altitude, roll, pitch and yaw of a drone to facilitate take-off and hovering at a given set-point. <\/li><li>Implemented elementary state-machine and RRT-Connect algorithm using Open Motion Planning Library to emulate feeding patterns of birds in simulation (CoppeliaSim) and real-world with a Pluto-X drone. <\/li><\/ul><\/li><li>Spherical Drone (Dec 2018-Mar 2019)<ul><li>Built experimental drone to make it easier to fly through narrow spaces and roll across uneven terrain. <\/li><\/ul><\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Apart from my professional experiences, I have taken part in several competitions and explored other personal projects. This page will give you a brief overview of all my projects and the associated documentation. Target-pose Aware Grasping Framework Developed Neural Descriptor<\/p>\n<p><a href=\"http:\/\/kaushikb.com\/index.php\/projects\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\">Projects<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0},"_links":{"self":[{"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/pages\/175"}],"collection":[{"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/comments?post=175"}],"version-history":[{"count":8,"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/pages\/175\/revisions"}],"predecessor-version":[{"id":284,"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/pages\/175\/revisions\/284"}],"wp:attachment":[{"href":"http:\/\/kaushikb.com\/index.php\/wp-json\/wp\/v2\/media?parent=175"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}