Rohan Thakker

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Robots capable of switching between snake-like and bipedal motion have advantages of greater manoeuvrability. This paper introduces ReBiS (Reconfigurable Bipedal Snake) robot, a novel modular design mechanism which can quickly transform between various configurations without rearrangement of modules. This paper documents the design as well as the gaits(More)
In this thesis, we propose a novel approach to integrating inertial sensor data into a pose-graph free dense mapping algorithm that we call GravityFusion. A range of dense mapping algorithms have recently been proposed, though few integrate inertial sensing. We build on Elasticfusion, a particularly elegant approach that fuses sensor information directly(More)
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