Sree Prasanna Rajagopal

My research motivation is building bio-inspired cobots. Particularly, I’m interested in motion and manipulation design with soft actuators for semi-autonomous, human-assisted robots.

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Bio-mimetic pneumatic wrist prosthesis

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We show the impact of using Pneumatic Artificial Muscles (PAMs) for a prosthetic application. Our design includes a bio-mimetic wrist joint with 2 degrees of freedom, actuation using PAMs, and PID-controlled solenoid valves for pressure control. Our experimental results show a quadratic pressure-length characteristic for the actuators.

Avenger30 - a gunner assist system

Avenger30 was designed and developed in Tonbo Imaging, Bangalore. Tonbo Imaging designs, builds and deploys advanced imaging and sensor systems to sense, understand and control complex environments. Our team was a mixed and versatile collection of mechanical, electronics, computer vision, and design engineers, with the core focus on developing a Dual axis FOG stabilized electro-optic sight with cooled MW IR thermal imager, low light CCD camera, laser range finder for surveillance, reconnaissance and target acquisition. It provides stabilised visual feedback via a housed camera while actively rejecting external motion disturbances.

Spod - an indoor navigation platform

Our team developed indoor navigation system that can work in close proximity with humans. We focus on increasing the working envelope of these indoor robots. This presents fundamental safety challenges. Our approach involved augmenting the standard models of navigation with multiple layers of hardware and software safety to ensure co-habitability with humans. Particularly, we ensured redundant models of localization from several sources of truth including LIDARs, cameras, and ultrasonic beacons.