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Dwarakesh Rajesh
Intern Robotics/Mechatronics Engineer specializing in automation and ROS2 systems
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About
Robotics software builder who developed a solo fault-adaptive robotic arm: current-based joint health monitoring feeding an ESP32, ROS 2/MoveIt 2 motion planning that adapts to joint failures, and a custom brute-force IK solver to overcome URDF/MoveIt singularity issues. Also worked on real-time 12-microphone sensor-fusion audio processing for drone navigation, resolving buffer/noise problems with multithreading and chunked sampling; experienced with Webots/CoppeliaSim and learning Isaac Sim.
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Key Strengths
- Built a solo fault-adaptive robotic arm system end-to-end (fault detection, HW/SW interface, motion planning)
- Designed a custom inverse kinematics solver when MoveIt kinematics plugins failed
- Integrated ROS 2 + MoveIt 2 with microcontroller control via an API bridge (ESP32 to PWM motor commands)
- Debugged real-time multi-microphone (12-channel) audio pipeline using multithreading and chunked sampling to reduce buffer/noise issues
- Strong simulation workflow across Webots and CoppeliaSim; uses simulation for validation and data collection
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