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DJIITBH/README.md

Hi 👋, I'm Dhananjay Abbot

Mechatronics Engineer | Robotics Enthusiast | ROS2 Developer

🚀 Pre-final year student at IIT Bhilai, specializing in autonomous ground robots and robotic manipulators.

🛠️ Key Skills

  • Programming Languages: C++, Python
  • Frameworks & Tools: ROS 2, Gazebo, MATLAB/Simulink
  • Robotics Expertise:
    • Kinematics & Dynamics of Manipulators
    • Control Systems: PID, Nonlinear Control, Feedback Linearization, State Feedback
    • State Estimation: Extended Kalman Filters
    • Navigation & Path Planning: SLAM, Nav2 on mobile robots
  • Software Development:
    • Writing custom hardware interfaces for robots
    • Implementing ROS2 control on hardware.
    • Building systems from scratch instead of relying on plugins

💡 Projects

1. Gesture-Based Control for 3-DOF Robotic Manipulator

  • Designed and implemented a robotic arm controlled by human gestures.
  • Highlights:
    • Built a 3-DOF arm using servo motors and unconventional materials like scales and tongs.
    • Used MediaPipe for pose detection and calculated real-time angles using vector dot products.
    • Developed Python scripts for gesture mimicking via serial communication.
  • Project Demo

2. Custom Differential Drive Robot

  • Developed and simulated the kinematics of a differential drive robot in ROS 2.
  • Highlights:
    • Implemented odometry calculations and custom state estimation using an Extended Kalman Filter.
    • Transitioned the simulation to real hardware by building custom ROS 2 drivers.

3. Warehouse Management Automation

  • Designed a warehouse management system using a UR5 robotic arm and a mobile robot.
  • Highlights:
    • Developed custom manipulation algorithms for pick-and-place operations.
    • Tuned Nav2 parameters for efficient localization and navigation.

4. Quadrotor Control under Motor Failure

  • Developed control algorithms for quadrotor stability under single-motor failure.
  • Highlights:
    • Implemented incremental PID based approach to safely land the drone.
    • Tested Feedback Linearization algorithm to find the optimal input for the non linear drone dynamics.
    • Simulated on IRIS drone in ROS2 using offboard control.

📚 Coursework

  • Machine Learning: Understanding deep learning architectures for intelligent systems.
  • Control Systems: Advanced concepts in stability, optimization, Controllability, Observability, State Feedback.
  • Digital Image Processing - Filters, Image feature extraction, CNN, Segmentation, Enhancement.
  • Robotics Fundamentals - DH, Transformations, Inverse Kinematics, Dynamics, Trajectory Generation.

📫 Let's Connect!

Feel free to explore my repositories and reach out for collaborations! 🚀

Pinned Loading

  1. KDL-FK KDL-FK Public

    C++

  2. mobile_robot_ROS2 mobile_robot_ROS2 Public

    Python

  3. ROS1-CPP ROS1-CPP Public

    C++

  4. InverseKInematics_6DOF_ARM_UR5 InverseKInematics_6DOF_ARM_UR5 Public

    C++ 1

  5. Gesture-Controlled-Robotic-Arm Gesture-Controlled-Robotic-Arm Public

    Forked from BhavikShangari/Gesture-Controlled-Robotic-Arm

    We have made a robotic arm that simply works on hand gestures, as you will simply move your hands, the robotic arm will mimic the exact movement and facilitate to pick and place an object

    Python 1

  6. ROS2_Assignment ROS2_Assignment Public

    Made for assignment given by acceleration robotics for internship

    Python