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Dynamics and Control Machine Learning Mobile Manipulator Robots


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I am currently a Senior Robotics Research Engineer at Dyson, focussing on developing different software and control components to enable intelligence to mobile-manipulator robots to perform home-safe tasks in human-occupied environments.

I hold a PhD in Robotics from the Intelligent Robotics Lab at the University of Birmingham, where I worked on using techniques from model-based and learning-based aproaches to develop a control framework for robots performing complex manipulation tasks.. The main topic of research during my PhD was "An Adaptive Framework for Changing-Contact Manipulation", which was done in collaboration with Honda Research Institute (EU). My PhD was supervised by Mohan Sridharan, Dirk Ruiken, and Akinobu Hayashi.

The research focussed on applying Machine Learning techniques to develop a control framework that can aid robots to perform Dexterous Manipulation tasks involving making and breaking of contacts in dynamic and unknown environments. The final objective of my thesis is to develop an online learning & control framework for a robot performing changing-contact manipulation tasks, by combining methods from dynamics, control theory, and machine learning.


Here are Some of My Works.

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Open Source Software and Libraries

Most of my other works are publicly available from my Github page.

Other Projects


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Work Experience

Senior Robotics Research Engineer

2021 - Present


As part of a multi-disciplinary robotics team at Dyson, I am currently working on different aspects of navigation, control, behaviour, state estimation, manipulation and software integration for different formats of mobile manipulator robots to be used in home-safe environments.

Software Developer, Product Designer

2017 - 2021

Obi Robotics

As one of the founding members of the robotics solutions company, I worked part-time as a software developer and product designer (3D CAD designing) for Obi Robotics.

Teaching Assistant

Nov 2017 - 2021


Sept 2018 - Jan 2019

University of Birmingham, UK

Conducted tutorial sessions on Java for undergraduate students for the Software Workshop module.

Chief Technical Officer

March 2015 - May 2016

Innovation and Entrepreneurship Development Cell, TKMCE, India (Non-Profit)

Co-founded the Innovation and Entrepreneurship Development Cell (TKMCE) to encourage and develop innovative and entrepreneurship spirit in students. Helped in starting the APJ DreamLab, which is a state of the art FabLab for product prototyping. As CTO, I conducted various technical workshops, competitions and seminars, as well as led several projects for developing affordable assistive devices for the differently abled.


PhD in Robotics (Computer Science)

Nov 2017 - Present

University of Birmingham, UK

For my research thesis, I worked on developing a control and learning framework for enabling a robot to perform changing-contact manipulation tasks, using different machine learning (RL, SL, Deep) techniques and robot dynamics/control strategies. Read thesis.

MSc Robotics

Sept 2016 - Sept 2017

University of Birmingham, UK

Covered courses in Intelligent Robotics, Robot Kinematics, Dynamics & Control, Machine Learning, Neural Computation and Computer Vision.

BTech Mechanical Engineering

Sept 2012 - May 2016

TKM College of Engineering, India

Covered subjects including Mechatronics, Computer-Aided-Designing (Mechanical), Creativity and Product Development, Machine Tools, Fluid Mechanics, IC Engines, Design of Machine Elements, and Thermal Engineering. Mechanics of Machinery.


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