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Education: Ph.D. candidate (Robotics) |
Research Interests |
Control systems, Dynamics, Aerial mobile manipulation, Real-time systems, Distributed Computing, Soft Robots, Subterranean Robots, internet of things. |
Aerial Mobile ManipulationMultirotor UAVs are being widely employed for periodic inspections of large-scale industrial facilities to protect workers from hazardous conditions such as precarious heights and toxic chemicals. This often requires physical interaction with the environment for sampling or cleaning operations. However, physical interactions with the environment requires the UAV to withstand external disturbances, including interaction forces and wind disturbances. Design choice and control for physical interactions are significant to ensure successful operations. The Physical interaction control is required to adapt to variations in the structures while exerting force signatures. I investigate the suitability of various UAV designs using quantifiable metrics and proposed hybrid physical interaction control for steady interactions.
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