I am Indian, born and brought up in Mumbai. I received my B. Tech degree in mechanical engineering from Sardar Patel College of Engineering affiliated to the Mumbai University in 2015. My active involvement with the collegiate robotics club during my undergrad, aspired me to pursue higher education in robotics.
I then moved to Europe and graduated from the Erasmus+ European Masters on Advanced Robotics (EMARO+) with double M.Sc. degrees from the Università degli Studi di Genova, Italy and École Centrale de Nantes, France in 2017. For my graduate thesis, I worked on CAD design and optimization of a redundant robotics workcell for automated fiber placement process.
Currently, I am a third year PhD student with iCub Tech at the Istituto Italiano di Tecnologia (IIT) and Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS) at Università degli Studi di Genova, Italy. My research focuses on mechanism design, parallel kinematics and tendon-driven mechanisms aiming for dexterous manipulation for humanoid robots.
My detailed CV is available here.
In my spare time, I learn and practice swing dancing!
Ph.D. in Bioengineering and Robotics, 2021
Università degli Studi di Genova and Istituto Italiano di Tecnologia
M.Sc. with Erasmus+ European Masters on Advanced Robotics (EMARO+), 2017
Università degli Studi di Genova and École Centrale de Nantes
B.Tech. in Mechanical Engineering, 2015
Tendon-driven mechanisms are gaining popularity in developing light weight, backdrivable robots for widespread use in safe human-robot collaborations. For such robots, appropriate tendon routing is essential to avoid any kinematic couplings. This article talks about the concept design and development of a novel tendon routing mechanism for 4 tendons simultaneously through a 1 degree of freedom rotational axial joint (pronation-supination motion of the forearm). The mechanism employs the idea of a moving pulley to achieve constant length for the tendons between the fixed and moving parts, thus resulting in fully decoupled motions. A prototype model and it’s validation are also presented.
This article provides a detailed comparative analysis of five orientational, two degrees of freedom (DOF), mechanisms whose envisioned application is the wrist of the iCub humanoid robot. Firstly, the current iCub mk.2 wrist implementation is presented and the desired design objectives are proposed. Prominent architectures from literature such as the spherical five-bar linkage and spherical six-bar linkage, the OmniWrist-III and the Quaternion joint mechanisms are modelled and analyzed for the said application. Finally a detailed comparison of their workspace features is presented. The Quaternion joint mechanism emerges as a promising candidate from this study.
N-UU class mechanisms, exemplified by the Omni-Wrist III, are compact parallel kinematic mechanisms (PKM) with large singularity free workspaces. These characteristics make them ideal for applications in robot wrists. This article presents the detailed kinematic and workspace analysis for four N-UU class mechanisms. More in detail, the equations defining the mechanism’s moving platform kinematics are derived as a function of the motion of the input links; these are then used to explore the mechanism’s workspace. These results are furthermore validated by comparing them to the results obtained from CAD-based simulations. The analyses suggests that the workspace of the mechanism is non-uniform, with a “warping” behaviour that occurs in an asymmetric fashion in a specific region of the workspace. Furthermore we show how the rotation of the input links, which mainly actuates the yaw and pitch angles of the mechanism, also causes unwanted coupled rotations along the roll axis.
This paper proposes a comprehensive methodology for the computer-aided design and optimization of a robotic workcell for the automated fiber placement. The robotic cell, comprising of a 6-axis industrial manipulator and an actuated positioner, is kinematically redundant with respect to the considered task. An efficient optimization technique for managing these kinematic redundancies is proposed. The robot/positioner motion planning and robotic cell layout design in a CAD environment are presented. To confirm validity of the developed methodology, experimental results are presented that deal with automation of thermoplastic fiber placement process.