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Suneeth Mulienty
Mid-level Robotics Engineer specializing in ROS 2, control systems, and manipulation
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Robotics software engineer with hands-on ROS2 experience across manipulation, SLAM/localization, and sensor fusion. Recently built an end-to-end hybrid force-position control system for a Ufactory xArm7 with a 6-axis force/torque sensor to enable compliant, force-guided shaft insertion, including real-time Jacobian computation, TF pipeline, and MoveIt2 trajectory execution validated on hardware.
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Key Strengths
- End-to-end robotics control development as sole engineer (ROS2 nodes through hardware testing)
- Built hybrid force-position controller from scratch integrating Jacobian, F/T processing, TF, and MoveIt2 on real hardware
- Practical sensor-noise mitigation (low-pass filtering, bias removal) for safe force-guided insertion
- Strong real-time debugging workflow using ROS2 tooling (RViz, rqt_graph, topic inspection) to isolate drift/jumps
- Diagnosed and fixed SLAM issues via timestamp synchronization and TF/IMU recalibration
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