Spherical Robot and its Applications

By Prof. Leena Vachhani


The talk showcases the prototypes of the spherical robot and its capabilities and limitations. The design aspects of the spherical robot’s technology are covered that would provide the possibilities of customizing the robot based on the use-case. It will also discuss in detail various applications where the spherical robot can be used. Ongoing work on exciting autonomous robotic tasks using single and multiple spherical robots will complete the talk. In particular, we have developed a novel algorithm for fingerprint classification, based on scattering wavelet networks, to extract translation and small deformation invariant local features. This is an example of an approach, which unifies multiresolution principles with deep learning. Automatic ear recognition system uses ear images, that are obtained from video footages or profile headshots. The process of acquisition of ear images is also nonintrusive, contactless and does not require much co-operation from the subject. The shape, structure and appearance of ears is unique and invariant to ageing. Our approach, which employs multiresolution deep learning is also useful here. A latent fingerprint on banknotes can be very useful information for law enforcement agencies, in identifying criminals in bank robbery and counterfeiters. Due to the complex background of a banknote, it is extremely challenging not only to automatic two-fingerprint matchers, but also for fingerprint experts. We have some preliminary work on analyzing latent fingerprints, which we shall briefly outline.


Dr. Leena Vachhani is an Associate Professor at the Systems and Control Engineering Department at IIT Bombay. She has completed her Ph.D. in Robotic path planning, Embedded systems from the Indian Institute of Technology, Madras in 2009. Dr. Vachhani’s main areas of interest are planning and control of autonomous vehicles, embedded control systems, Multi-agent patrolling, exploration and mapping, and other allied areas. Dr. Vachhani has been instrumental in developing two laboratories embedded control lab and Autonomous Robots and Multi-agent Systems (ARMS) lab. She has been guiding a team of about 25 students (from various departments) in designing and developing an underwater vehicle for participation in an international ROBOSUB competition. Sagar Sangodkar is an erstwhile M. Tech. Student of the Department of Electrical Engineering, IIT Bombay, who worked with Prof. Gadre’s supervision for his Masters’ Dissertation (Project). He graduated with an M. Tech. Degree in 2020, with an excellent academic record and has been associated with NCETIS throughout his project duration.

Video Recording: