Ballerina Cappucina
Ballerina Cappucina is an omnidirectional autonomous robot designed to navigate freely across a defined arena while detecting and collecting colored objects.
I led the mechanical design and implementation of the robot’s omnidirectional drive system, including chassis design, motor selection, and drivetrain integration to achieve smooth multi-directional movement without requiring chassis reorientation. The mechanical structure was designed to ensure stability, maneuverability, and reliable object collection.
On the perception side, I contributed to the development of a vision pipeline using OpenCV for detecting and identifying colored objects in real time. I was also involved in overall system integration, assisting with software development and testing to ensure seamless interaction between motion, perception, and object collection modules.
Wall-E Robot Platform
Wall-E is a two-wheeled self-balancing and line-following robot platform developed within SRA-VJTI to demonstrate embedded robotics and control system concepts.
I worked extensively on hardware assembly and integration of the robot using an ESP32-based SRA development board. I implemented and tuned PID control algorithms to achieve stable self-balancing behaviour and reliable line-following performance using real-time sensor feedback.
Beyond development, I played an active role in mentoring and teaching. I conducted robotics workshops alongside my peers, guiding students through the hardware assembly process, explaining firmware structure, and helping them understand control system implementation.