About

About

About

Professional Summary

Robotics Software Engineer with experience in medical robotics, autonomous aerial vehicles, embedded systems, control systems, state estimation, EtherCAT, and robotics software architecture. Experienced in developing real-time robotic control software, onboard flight control systems, mathematical modeling, robotic calibration systems, and autonomous navigation algorithms.

Strong background in C++, Python, robotics algorithms, state estimation, embedded programming, and robotic system integration with industrial as well as research experience. Passionate about designing reliable robotic software frameworks for real-time applications.

Education

Degree / LevelInstituteCourse / DepartmentYear
M.Tech.Indian Institute of Technology JodhpurAdvanced Manufacturing & Design2022
B.Tech.Indian Institute of Technology JodhpurMechanical Engineering2019
Class XIIIndian Public School, MadhubaniScience & Math2014
Class XRamakrishna Mission Vidyapith, DeogharCBSE2012

Professional Experience

SS Innovations Pvt. Ltd.

Mechatronics Engineer (Robotics Software Development)

February 2023 – Present

Responsibilities

  • Develop robotics software for surgical robotic systems.
  • Designed mathematical models for 30+ cable-driven robotic grippers spanning five different mechanisms.
  • Developed control systems for various endo-surgical robotic instruments.
  • Developed an automatic calibration framework for robotic linear joints using:
    • EtherCAT
    • State machines
    • Automated calibration algorithms
  • Standardized production testing procedures for endo-surgical micro-grippers.

IIT Jodhpur

Research Engineer

Robotics Lab | March 2022 – May 2022

Project

SERB-DST funded project on autonomous unmanned rotorcraft navigation.

Contributions
  • Integrated flight controller with Single Board Computer (SBC).
  • Implemented visual odometry framework.

  • Interfaced long-range communication module (RFD900) with custom autopilot.

  • Developed communication software for transmission, reception and packet-loss analysis.
  • Investigated autonomous hovering and waypoint navigation for helicopter platforms.

Student Project Research Associate

Helicopter Lab | October 2020 – July 2022

Responsibilities
  • Improved quadrotor orientation and position control.
  • Implemented GPS delay compensation using IMU sensor fusion.
  • Studied and implemented modern waypoint navigation algorithms.
  • Implemented trajectory tracking algorithms for aerial and mobile robotic platforms.

Project Assistant

Helicopter Laboratory | December 2019 – September 2020

DRDO DYSL-AST Sponsored Project

Development of indigenous onboard Flight Control System (FCS)

Responsibilities
  • Developed complete flight-control software framework.
  • Implemented:
    • State estimation
    • Flight control
    • Sensor interpretation
    • Data processing algorithms
  • Developed indigenous reusable software libraries.
  • Successfully demonstrated autonomous outdoor flight.
  • Delivered software and documentation to DRDO.
Additional Responsibilities
Mid-range RF Communication System
  • Designed and developed RF transceiver (>10 km range) for nuclear radiation sensors.
Nuclear Sensor Communication
  • Developed communication software for DRDO DELRAD nuclear sensors.
  • Used TI TIVA CC1310 LaunchPad.
  • Implemented wireless communication and sensor data interpretation.

Major Projects

GPS Delay Compensation, Trajectory Tracking & Mini Helicopter Integration

M.Tech Thesis

Supervisor: Prof. C. Venkatesan

August 2021 – July 2022

Highlights

  • Estimated GPS latency using cross-correlation techniques.
  • Compensated GPS delay using acceleration kinematic models.
  • Developed embedded drivers for:
    • Sensors
    • Communication modules
    • Teensy 4.1
  • Developed C++ libraries for:
    • Complementary Filter
    • Kalman Filter
    • Full state estimation
  • Implemented:
    • Outdoor waypoint navigation
    • Trajectory tracking
  • Performed assembly and integration of Align 470 electric helicopter.

Design of Onboard Flight Control System for Aerial Vehicle

B.Tech Project

Supervisor: Prof. C. Venkatesan

June 2018 – May 2019

Highlights

  • Designed complete avionics architecture.
  • Integrated:
    • IMU
    • Servo motors
    • Brushless motors
    • Radio receiver
    • ATmega328 controller
  • Implemented onboard flight control software.
  • Successfully validated through autonomous flight experiments.

Quadrotor Mounted with Manipulator Arm

Supervisor: Prof. Suril V. Shah

January 2017 – April 2018

Highlights

  • Developed mathematical dynamics of quadrotor-manipulator system.
  • Simulated dynamic inversion and PID control in MATLAB.
  • Controlled hardware using:
    • Pixhawk
    • ROS
    • Vicon Motion Capture
  • Built prototype using Arduino Uno.

Two-Wheel Self-Balancing Robot

Summer Project

Supervisor: Prof. B. Ravindra

April 2016 – June 2016

Highlights

  • Built complete balancing robot prototype.
  • Developed:
    • PID stabilization
    • Odometry estimation
    • Velocity control
  • Used:
    • Arduino Mega
    • ESP32
    • Raspberry Pi
    • ROS
  • Simulated robot in Simulink using CAD-derived parameters.

Collaborative Control & Teleoperation of Robotic Swarm

Highlights

  • Designed framework for controlling four TurtleBot3 robots.
  • Implemented:
    • Consensus algorithms
    • Aggregation
    • Dispersion
    • Homing
    • Obstacle avoidance

Obstacle Avoidance & Path Tracking of Mobile Robot

Highlights

  • Differential drive waypoint navigation.
  • Implemented:
    • Artificial Potential Field
    • Rapidly Exploring Random Tree (RRT)
    • Pure Pursuit Controller
    • Stanley Controller

Teleoperation of 6-DOF Manipulator with Force Feedback

Highlights

  • Kinematic analysis of UR5 manipulator.
  • Developed ROS-based teleoperation software.
  • Integrated:
    • UR5
    • Phantom Omni
    • Multi-axis joystick
  • Implemented:
    • Jacobian-based position control
    • Force feedback
    • Workspace confinement
    • RViz visualization
    • Gazebo simulation

Technical Skills

Programming

  • C, C++
  • Python
  • Embedded C

Robotics

  • ROS, ROS2
  • RViz
  • Gazebo
  • EtherCAT
  • State Machines
  • Motion Control
  • Robot Kinematics
  • Robot Dynamics
  • Trajectory Planning

Control & Estimation

  • PID
  • Complementary Filter
  • Kalman Filter
  • Sensor Fusion
  • State Estimation

Embedded Platforms

  • AVR
  • Arduino
  • Teensy
  • STM32 Nucleo
  • Raspberry Pi
  • Pixhawk

CAD & Simulation

  • SolidWorks
  • MATLAB
  • Scilab
  • Octave
  • Simulink
  • Adams View (Basic)
  • ANSYS Static Structural (Basic)
  • Lotus Suspension
  • Cinderella

Relevant Coursework

  • Introduction to Robotics
  • Introduction to Aerial Robotics
  • Swarm Robotics
  • Mechatronics
  • Mechanical Vibrations
  • Sensors and Instrumentation
  • Kinematics and Dynamics of Machines
  • Multibody Dynamics
  • Linear Algebra

Publication

Abhinay Kumar and Prof. C. Venkatesan, “Development and Performance Evaluation of Onboard Auto-pilot System for an Aerial Vehicle”, 28th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), New Delhi, India, October 2019. Accepted as LBR (Late Breaking Report)

Achievements

IIT R&D Fair 2022

  • Selected for the PAN IIT R&D Fair.
  • Demonstrated indigenous autopilot system.
  • Recognized among the Top 5 Defense & Aerospace Projects across all IITs.
  • Represented IIT Jodhpur before officials from:
    • Ministry of Home Affairs
    • Industry
    • Startups
    • Academic Institutions

SAE BAJA 2017

  • Secured 63rd Rank among 400+ teams.
  • Designed:
    • Front upright
    • Rear upright
    • Suspension linkages
  • Performed suspension optimization using Lotus Suspension.
  • Conducted structural analysis using ANSYS.
  • Optimized design to:
    • Factor of Safety > 2
    • Weight < 500 g

Areas of Interest

  • Surgical Robotics
  • Medical Robotics
  • Autonomous Systems
  • Embedded Systems
  • Robot Control
  • Motion Planning
  • Flight Control Systems
  • State Estimation
  • Robot Software Architecture
  • EtherCAT
  • Real-Time Robotics

You can reach out to me on the following link
Contact