Akash Singh
Summary
Full-stack Robotics Engineer with expertise in Design, control algorithms, sensor integration, and simulation for autonomous robots. Several multi-dimensional projects with budgets ranging from 100K to 1000K $. Interests: Robotics, Mechanical Design, UGV, Vehicles Design, Autonomous robots, UAV, UGV, Mechanism Design, Controls, Industrial robotics, Path planning, Manufacturing
Overview
11
11
years of professional experience
Work History
Robotics Engineer and Scientist
Simtech, Star
06.2022 - Current
- Directed control and planning for multiple(5) modular robots with unique
- Dual rotor-stator motors, implementing Matlab, Labview, and Simulink algorithms
- Characterized high-speed 2000 RPM variable flux speed motors and en- sured flux change by 200% using ROS 2 for sensor integration and robot control.
Researcher
Italian Institute of Technology
11.2018 - 05.2022
- Engineered robotic actuators and robots, including a 200 Nm-35rad/s Pancake-shaped high-performance robotic actuator
- Pioneered thermal modelling, achieved state estimation with up to 90% accuracy, and mastered current control for the robotic actuator's explosive/s-square action
- Built a high payload of 200kg compliant leg-wheeled robot and executed robot motion planning using LQR-assisted whole-body control and PID joint control.
Robotics Software Engineer
Robotics Research Center, IIIT
08.2016 - 11.2018
- Applied Optimal controls and motion planning for pipe climbing and ro- bots proficient at executing sharp 90 turns and flexible-legged robots
- Devised walking gaits for 20-DOF 4-legged robots with a shared locomotion module, applying Quasi-static analysis simulation control in Adams
- Simulated locomotion gaits and the 4-leg crawler module robot's interactions with the environment in Gazebo and harnessed ROS2 and ADAMS for robot control with an outstanding 90% repeatability rate.
System Design Intern
NUS
05.2016 - 07.2016
- Mathematically modelled a 15 mm thin novel surgical robot joints and controlled 6 SEA motors using torque control
- Employed ROS2 as a mid- dleware to simulate and optimize robot operation
- Simulated and improved robot compliance by an impressive 20 degrees and integrated an array of sensors, including 10 IMUs, 3 optical sensors, and encoders, to ensure flawless execution
Research Scholar
IVLABS
08.2012 - 05.2016
- Created India's second kid-size humanoid robot and executed static walking for the 24-DOF humanoid robot using inverse dynamics
- Enhanced the humanoid's walking speed by an impressive 20% by applying the ZMP control method and utilizing the ROS-Gazebo interface for simulating humanoid walking
- Spearheaded image processing projects and expertly fused data from LIDAR, 2 Cameras, and 2 Depth sensors using ROS in the Butler robot.
Robotics Scholar
Robotics Institute, CMU
05.2015 - 08.2015
- Using the Matlab-LCM bridge network, architectured control and loco- motion of 20 multi-joint snake robots. Simulated snake robot locomotion and interactions in Gazebo.
- Modeled forces during contact with ground and obstacles using the spring-force model and planned path with an error range of 5%.
- Crafted DFS/WFS algorithms in Python for robot path planning within cluttered environments and validated these algorithms in real-world utilizing the ROS-LCM Bridge, achieving an exceptional repeatability rate of 97%.
Industrial Intern
Systemantics India Pvt Ltd
11.2014 - 02.2015
- Framed a compact Ark motion, and electronics circuit (AM 2.0 of the torque-controlled motors) for the Industrial Arms released in the market in 2015.
Education
PhD - Robotics And Automation
University of Genova, IIT
07.2022
Bachelor of Technology - Electrical, Electronics And Communications Engineering
VNIT
Nagpur08.2016
Skills
- Software Development(Java, C, Python, ROS2)
- CAD (Solidworks, CREO, SIEMENS NX)
- Robot Dynamics (ADAMS, Matlab )
- Control theory (ADAMS, VREP, GAZEBO)
- Simulation (CAE, FEA, ANSYS, ADAMS)
- Manufacturing (DFA, DFM, DFMEA))
- Programming (C, C, Python, ROS, Matlab)
- GD&T, Tolerance analysis
- Sensor Integration
- Product Design and Engineering
- Casting, Dying, Fabrication, Sheet metal
Publications
Important Papers:
- Design, thermal modeling and control of Quasi-Direct-Drive Actuator, A Singh, N Kashiri, N Tsagarakis in MDPI, Actuators Journal 64 (1).
- Thermal Control for Peak Operation of Electric Robotic Actuators, A Singh, N Kashiri, N Tsagarakis in IEEE ICAR, 2021.
- Design of a Quasi-Direct-Drive Actuator for Dynamic Motions, A Singh, N Kashiri, N Tsagarakis in MDPI 64 (1), 11(2020)
- CobRaSO: Compliant Omni-Direction Bendable Hybrid Rigid and Soft Omni Crawler Module, A Singh, M Krishna in IEEE IROS 2023 (in Review)
- CoCrip: Compliant Omni Crawler In-pipeline Robot A Singh, E Sachdeva, M Krishna, in IEEE IROS 2017.
- Design and optimal spring stiffness estimation of a Modular Omni Crawler in-pipe climbing Robot. A Singh et al. in IEEE ROBIO 2017.
- Design and Implementation of Omnidirectional Spherical Modular Snake Robot (OSMOS) A Singh et al. in IEEE ICM, 2018 Gippsland, Australia.
- Design and Motion Analysis of Omni-directional Spherical Modular Snake Robot, A Singh, et al. in IEEE REMAR, DELFT 2018.
Patents:
- A Singh, E Sachdeva, V Rodrigues "Omnidirectional Bendable Omni Crawler Module", Patent (USA), 2020.
- A Singh, E.Sachdeva, V Rodrigues" Telescopic differential screw mechanism based 3-DOF-parallel manipulator platform to achieve omnidirectional bending", Patent (USA). 2020
- K Singh, P Khanna, A Singh "Hybrid Snake-Drone Robot", Patent application number 2017 21020615.
Timeline
Robotics Engineer and Scientist
Simtech, Star
06.2022 - Current
Researcher
Italian Institute of Technology
11.2018 - 05.2022
Robotics Software Engineer
Robotics Research Center, IIIT
08.2016 - 11.2018
System Design Intern
NUS
05.2016 - 07.2016
Robotics Scholar
Robotics Institute, CMU
05.2015 - 08.2015
Industrial Intern
Systemantics India Pvt Ltd
11.2014 - 02.2015
Research Scholar
IVLABS
08.2012 - 05.2016
PhD - Robotics And Automation
University of Genova, IIT
Bachelor of Technology - Electrical, Electronics And Communications Engineering
VNIT
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