Sharath Matada
I'm a senior engineer at Horizon Surgical Systems where I'm working on designing surgical robots for robotic ophthalmic surgery. I graduated from UC San Diego, where I worked with Prof. Nikolay Atanasov at the Existensial Robotics Lab. My research was focused on learning based planning.
My professional experience includes my work at Systemantics as a Senior Robotics Engineer with a focus on design and controls for 6 DOF industrial arms.
I was responsible for introducing collaborative features for safe human-robot interaction. I worked under the guidance of Dr. Jagannath Raju.
Email /
CV /
Twitter /
Github
|
|
Academic Research
I'm interested in learning based control and robot manipulation. I have a wide experirence in motion control and planning for robotic arms and quadrupeds.
|
Planning using Neural Operators |
Reconstruction of Robot Motion from Video
Sharath Matada*,
Luke Bhan*,
Yuanyuan Shi,
Nikolay Atanasov
Under Review
preprint
In this work, we introduce a planning neural operator (PNO) for predicting the value function of a motion planning problem.
We recast value function approximation as learning a single operator from the cost function space to the value function space, which is defined by an Eikonal partial differential equation (PDE).
|
Pose Estimation of a dancing spot |
Reconstruction of Robot Motion from Video
Jingpei Lu,
Sharath Matada,
Yiyu Chen,
Florian Ritcher,
Quan Nguyen,
Michael Yip
Submitted to Science Robotics
project page /
code /
preprint
Reconstruction of complex robot motion from video of dynamic robot motions using keypoint detection. My work focused on integrating dynamics and simulating estimated poses on real robots.
|
Industrial Research and Development
I previously worked as a robotics engineer at Systemantics focusing on the design and development of India's first collaborative arm. My work here ranged from the design of six-axis serial manipulators to the design of innovative six-axis hybrid manipulators. I have worked extensively on the design and analysis, motion control, joint controller software design of these robots.
|
|
Motion Control
Systemantics, Bengaluru, India
- Designed feedback controller (PID) and modeled friction, inertial, and gravity effects.
- Worked on flexible joint control using full-state feedback.
|
|
Collision Detection
Systemantics, Bengaluru, India
Worked on integrating collaborative features such as collision detection for safe human-robot collaboration. Used momentum based disturbance observers for
flexible joints without using external force-torque sensor or internal joint torque sensors.
|
|
Lead Through Teaching
Systemantics, Bengaluru, India
Worked on implementing lead through teaching using admittance controller that shapes inertia of the system.
|
|
Hybrid Manipulator
Systemantics, Bengaluru, India
The 6 DOF hybrid manipulator is a patented manipulator design which combines properties of both serial link and parallel link manipulators to achieve lower power consumption and large working volume
- Worked on precision design of wrist mechanism of the novel hybrid linkage consisting of six passive joints for a payload of 10 kg.
- Proposed novel alternative kinematic architecture for improved dexterity.
- Analyzed the impact of joint elasticity on the manipulator and various vibration modes resulting out of the same.
- Worked on flexible joint control for the robot joint.
|
|
ARA: Antropomorphic Robotic Arm
ABB Robotics, Bengaluru, India
Robotic manipulation tasks using an Antropomorphic End Effector
|
|