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I currently work as a Senior Robotics Research Engineer at Dyson, mainly working on control and planning for mobile manipulation robots intended for helping in domestic tasks and environments.
Previously, I was a PhD student in the Intelligent Robotics Lab at the University of Birmingham, working on "Machine Learing for Dexterous Robot Manipulation". The main area of my research was applying Machine Learning techniques to develop a framework that can aid robots to perform changing-contact manipulation tasks in dynamic and unknown environments using different objects.
I have created several open source software and tools to enable research and exploration in robotics, specifically for control and manipulation research.
I like creating robot interfaces and implementing algorithms for testing the capabilities of intelligent robot systems.
I especially enjoy working with mobile robots and manipulators in the context of assembly tasks involving challenging interaction
Featured work
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justagist/franka_ros_interface
A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated).
Python 171 -
justagist/panda_robot
A ROS python interface for using the franka robot (requires franka_ros_interface). Simplified control and management API.
Python 87 -
justagist/panda_simulator
A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
C++ 213 -
justagist/pyLasaDataset
LASA Handwriting dataset for Python. https://www.epfl.ch/labs/lasa/datasets/
Python 11 -
justagist/mujoco_panda
Model definitions and Python API for controlling a Franka Emika Panda robot in the mujoco physics simulator.
Python 54 -
justagist/pybullet_robot
A generic Python interface class for robot simulations using PyBullet. Also provides an IK interface for multi-end-effector robots that uses bullet physics as a solver.
Python 28