Dhruv Thanki

I am a Master of Science in Robotics student at Robotic Locomotion Lab, Department of Mechanical Engineering, University of Delaware, where I am working on control and dynamics of legged robots under the guidance of Dr. Ioannis Poulakakis. In the past, I have worked at Space Application Center - ISRO as a Robotics Project Intern on formulating a control system and a closed form solution for the inverse kinematics of a Walk-And-Roll Rover leg.

I grew up in Porbandar, India, a small coastal town in the state of Gujarat. Since then, I've lived in Jinja (Uganda), Ahmedabad (Gujarat), and now living in Newark (Delaware). The things that I am very passionate about are Street Photography and Rock music.

thankid@udel.edu / Resume / LinkedIn

Publications

A Sequential MPC Approach to Reactive Planning for Bipedal Robots
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, and Ioannis Poulakakis
[Published in IEEE Robotics and Automation Letters]
[DOI] [arxiv] [Video]

Projects and Tutorials

I'm interested in the control of Hybrid Dynamical Systems, Reinforcement Learning, Optimization; anything and everything that piques my interest. (open the following videos in a new tab)

MPC-Based Global Trajectory Tracking for Humanoid Robots.
2022

Upcoming Work!!

Optimising Trajectories for Digit robot from Agility Robotics
2021

Optimising trajectories for strainght Ahead motion for Digit robot.

Understanding Hybrid Zero Dynamics
2019 (5Link, 3Link)

An article explaining what a HZD based controller is and how it can be used to drive a resultant reduced order system via feedback using the concept of virtual constraints. A Simulation of 5-Link biped robot is used as an example.

Trajectory Generation for LBR iiwa 7 R800, KUKA robot
2020 (Github)

An article explaining what a HZD based controller is and how it can be used to drive a resultant reduced order system via feedback using the concept of virtual constraints.