Projects

Here is a comprehensive collection of my work in precision mechanism design, robotics, and autonomous systems.

Humanoid Robotics 7+ DOF Arm & Harmonic Drives	ABU Robocon 2025 Competitive Robotics
B.Tech Project: Heavy-Duty Swerve Drive Industrial Mobility System	Hybrid Actuator (106:1) Planetary-Cycloidal Design
Quadruped Robot Mechanical Assembly & MuJoCo	Autonomous Surface Vessel Marine Navigation & Logistics
Provenance \| IP Management Cryptographic Engineering Dashboard

Technical Project Specifications

May 2026 – July 2026

Kinematic Architecture: Designing a 7+ DOF anthropomorphic robotic arm using a mixed actuator architecture—cycloidal actuators at high-load proximal joints, harmonic drives at mid-joints, and custom spur gear servo motors at distal joints.
Constraint Modeling: Researching harmonic drive implementations to optimize joint torque density and backdrivability, utilizing flexspline radial deflection and bending stress analysis as primary design constraints.
Subsystem Execution: Owning the full design-to-validation cycle for humanoid receptionist robot mechanical subsystems, including rigorous tolerance stack-up analysis, rapid prototyping, and functional hardware testing.

September 2024 – July 2025

Hardware Iteration: Designed and owned a cam-actuated jumping mechanism, engineering an increase in jump height from 10 cm to 21 cm through successive hardware iterations targeting spring preloading, cam geometry, and release timing.
Structural Isolation: Designed the main chassis to withstand repeated dynamic jump-and-land loading cycles, integrating targeted structural isolation to completely prevent impact load transmission to onboard electronics.

December 2025 – Present

Load Specifications: Developing a highly compact, omnidirectional swerve drive module explicitly engineered for a 25 kg payload at an FOS of 2, aimed at industrial mobility platforms.
Mechanical Integration: Directly responsible for the system's structural layout, gear ratio selection, and bearing specifications; successfully integrating a custom planetary gear mechanism for steering actuation with a high-torque wheel drive axis.

November 2025 – January 2026

Analytical Sizing: Designed a 70 mm, 105.88:1 actuator combining a planetary input stage with a 25:1 cycloidal output. Sized all gear geometry analytically to distribute contact loads and minimize localized tooth wear using the hunting tooth principle.
Research & Validation: Offset the backlash limitations of planetary drives against the manufacturing complexity of cycloidal drives. Validated structural adequacy through hand calculations prior to CAD. Presented at ICASET 2026.

January 2024 – Present

Mechanical Assembly: Designed a complete quadruped mechanical structure in SolidWorks, heavily prioritizing leg geometry for static stability, modular joint configurations, and variable terrain adaptability.
Physics Simulation: Building custom kinematic models from scratch in MuJoCo, enforcing strict joint torque constraints and stability criteria to train physical AI locomotion policies via reinforcement learning.

June 2026 – Present

Mechatronics & Propulsion: Designing the hull layout, propeller drive control, and gyroscopic stabilization systems to guarantee dynamic stability under severe riverine and marine current loads.
Sensor Integration: Interfacing the onboard autopilot system with a comprehensive sensor suite (GPS, IMU, LiDAR, Ultrasound) to facilitate fully autonomous operation and real-time dynamic collision avoidance.

Frontend Development & Systems Security

Granular Access Control: Developed a conceptual frontend architecture allowing modular, fine-grained access to proprietary engineering assets, bridging the gap between mechanical design and digital security.
Session Security & Auditing: Integrated simulated dynamic session watermarking and cryptographic audit receipts to track viewer history, monitor escrow gates, and prevent unauthorized data extraction.