Two-Wheeled Self-Balancing Robot

Designed and implemented a closed-loop balance controller using IMU feedback to achieve stable posture control and autonomous navigation of a two-wheel robot.

Posted
By Abhinay Kumar
2 min read
Two-Wheeled Self-Balancing Robot

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.

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int main()
{
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}

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pwd
mkdir -p ~/abhinay/catkin_ws
cd /catkin_ws
catkin create pkg turtlesim_custom
catkin make

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# content

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{% endif %}
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