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My past work involved robotic precision assembly with high degree of positional accuracy. Our research focused on the design of a compliant, position sensing robotic wrist that used a fuzzy logic rule base to generate position compensation commands to the robot during an assembly attempt.



I worked with a research group on design of a stereo vision system for a mobile robot. A stereo vision system approximates human head and eye movements. It is used to gather and process 3D information about the surroundings of a mobile robot as part of its navigation system.




In most practical walking robot designs a six-legged configuration is adopted for stable motion of the machine. But they have a drawback in maneuverability. Turning is often a problem that may require a complex control system design. Our research effort focused on development of an omni-directional six-legged walking machine.


Selected publications

  • “Fuzzy logic and position sensing for precision assembly”. Journal of Robotic Systems, vol. 12, no 2.,1995.
  • “Fuzzy rule base optimization of a compliant wrist sensor for robotic assembly”. Journal of Robotic Systems, vol. 13, no 7., 1996.
  • “Precision assembly using force sensing”. Int. Journal of Advanced Manufacturing, vol. 11, no 2.,1996.
  • “Design of a stereo robot head: an Interdisciplinary Research Project”, CUR Quarterly, vol. 18, no. 1, September 1997.
  • “Design of a robot that walks in any direction”. Journal of Robotic Systems, vol. 15, no. 7, 1998.