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PROJECTS
BC policy as well as PLANRL based model training on UR3e Manipulator Hardware. Implemented the URTDE based RL Controller for the manipulator to make all the modalities to sample at the same frequency while adding collision constraints.
As a Graduate Research Assistant at the RAAS Lab, Brendan Iribe Building of Computer Science at University of Maryland, College Park we are working on an Assistive Feeding Project. We used a prototype with link lengths proportional and developed Forward Kinematics for the same. Then we used a ROS Wrapper to transfer the motion of Dynamixel Motors to a Mujoco Simulation.
As a part of the Assistive Feeding Project we used URTDE channel to transfer the joint motion to the UR5e Hardware.
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