Education
Master of Science (Robotics)
- GPA of 5.512/6
- Area of Interest: Application of optimal control theory and learning systems
-
Thesis: Vibration Control in an Adaptive Optic System
Proposed a new loosely coupled robust vibration controller schema and provided a MATLAB toolbox for the controller design.
Bachelor of Technology (Mechanical Engineering)
- GPA of 9.231/10 with minor in Interdisciplinary Specialization in Robotics
- Area of Interest: Mechanical Design and Control Theory for mechatronic applications
-
Thesis: Force Feedback in Laparoscopy
Analysed, simulated, and fabricated a compliant mechanism using flexure components to sense and map the contact forces on laparoscopic instrument for haptic control
Experience
Research Assistant
- Developed a PyBullet framework for collision simulation between a human and a mobile robot
- Formulated a passive dynamical system-based controller for post-collision compliance and implemented the controller on QOLO, a standing mobility vehicle for lower-body paralyzed people
- Exploring ways to combine information from visual and haptic feedback for grasping tasks
Engineer
- Worked on the logic for control of semi-active suspension system using only the standard in-car sensors at the client company (SHOWA Ltd.)
- Formulated an observer for the ground load and vehicle state estimation
Intern
- Characterized and improved the positional accuracy and precision of a 5-axis industrial arm
- Developed a front-end application for vision-based palletizing operation
Publications
Conferences
Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation
Robotics Science and Systems (RSS-2021) - Workshop on Social Robot Navigation
July 12-16, 2021 | Virtual Conference
A perturbed cognate mechanism as a force sensor
euspen’s 18th International Conference & Exhibition
June 2018 | Venice, Italy
Three-stage computed-torque controller for trajectory tracking in non-holonomic wheeled mobile robot
15th International Workshop on Advanced Motion Control (AMC)
March 2018 | Tokyo, Japan
DOI: 10.1109/AMC.2019.8371077
RoboAnalyzer: Robot Visualization Software for Robot Technicians
Advances in Robotics 2017
June 2017 | New Delhi, India
DOI: 10.1145/3132446.3134890
Designing compact remote centre of compliance devices for assembly robots
2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM 2015)
Dec 2015 | Kanpur, India
Patents
状態量算出装置、制御装置および車両 (The state quantity calculating device, control device, and vehicle)
特許第6810779号(P6810779)
in Japan
issued 6 Jan 2021
- グプタ ワイバワ (Gupta Vaibhav), 株式会社ショーワ (Showa Corporation)
- 水口 祐一郎 (Minakuchi Yuichiro), 株式会社ショーワ (Showa Corporation)
接地荷重推定装置、制御装置および接地荷重推定方法 (To provide a ground load estimation device, a control device and a load estimation method)
特許第6695481号(P6695481)
in Japan
issued 2 Sept 2020
- 水口 祐一郎 (Minakuchi Yuichiro), 株式会社ショーワ (Showa Corporation)
- グプタ ワイバワ (Gupta Vaibhav), 株式会社ショーワ (Showa Corporation)
接地荷重推定装置、制御装置および接地荷重推定方法 (To provide a ground load estimation device, a control device and a load estimation method)
特許第6748765号(P6748765)
in Japan
issued 20 May 2020
- 水口 祐一郎 (Minakuchi Yuichiro), 株式会社ショーワ (Showa Corporation)
- グプタ ワイバワ (Gupta Vaibhav), 株式会社ショーワ (Showa Corporation)
Other Academic Experience
Teaching Assistant
Conducted tutorial session for the course ‘Engineering Visualization and Communications MEP100’
Robotics workshop for school children
Organized and conducted basic robotics workshop for school students in Don Bosco School, Liluah, Kolkata, India
Achievements
IITD Semester Merit Award
Received the award for being in top 7% of the class
Twelfth Board Topper
Overall board topper in class 12th in AMU board