Driven by my passion for research in robotics, under the guidance of Dr. Santhakumar Mohan and Mr. Jagadeesh Kadiyam (Ph.D. student), I am working on a research project in the field of robotics parallel with the academics at Center for Robotics and Control, IIT Indore.

 

Our ultimate aim is to develop a control scheme for indigenously developed robotic fish at CRC, IIT Indore. I am currently working on co-simulation of Oscillating Fin Propulsion scheme of the robotic fish and its motion and orientation control using onboard buoyancy module and CG shift mechanism using Multibody Dynamic Simulation together with Control Plant modelled in MATLAB. 

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 The vehicle consists of three rigid fins actuated by three servomotors individually to achieve required thrust force and various motions based on the combination of fin movements. All the fins are attached directly to servo motor shafts to decrease frictional/mechanical losses during their movement. The caudal fin gives the required thrust, and two pectoral fins help change the attitude of the vehicle as well provide additional thrust whenever required. 

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