Dipendra Subedi

Dipendra Subedi

Robotics Engineer | Mechatronics Specialist

Hokarob AS.

Biography

I hold expertise as a robotics engineer and mechatronics specialist, having earned a Ph.D. in Mechatronics from the Department of Engineering Sciences at the University of Agder. My scholarly pursuits gravitate toward the realms of robotics, flexible manipulators, as well as dynamics and control.

Download my resumé.

Interests
  • Robotics
  • Flexible Manipulators
  • Dynamics
  • Control
Education

  • PhD Research Fellow in Engineering Science, Specialization in Mechatronics, Feb. 2019 - Jul. 2022

    University of Agder, Norway

  • University Master's Degree Erasmus Mundus in Advanced Robotics, Aug. 2016 - Jul. 2017

    Jaume I University, Spain

  • Master of Science in Robotics Engineering, Sep. 2015 - Jul. 2016

    University of Genoa, Italy

  • Bachelor of Engineering in Electrical and Electronics Engineering, Jul. 2010 - Apr. 2014

    PSNA College of Engineering and Technology, Anna University, India

Software Skills

C
C++
Python
Matlab/Simulink
Structured Text
Maple
Git
TwinCAT
OpenCV
ROS
MoveIt!
Windows
Linux (Ubuntu)
PLC Programming

Experience

 
 
 
 
 
Mechatronics Specialist
Hokarob AS.
Aug 2022 – Present Grimstad, Norway
  • Development of IRBCAM: a robot simulation software.
  • Development of parallel kinematic machines.
 
 
 
 
 
PhD Research Fellow
University of Agder
Feb 2019 – Jul 2022 Grimstad, Norway

Modeling and Control of Flexible Link Manipulators.

  • Dynamic modeling of multi-link flexible manipulators.
  • Flexible link deflection estimation using a high speed camera.
  • Flexible link deflection estimation using a tip-mounted inertial sensor (IMU).
  • Interfacing Leica laser tracker with real-time Linux kernel using EtherCAT.
  • Intrinsic and extrinsic calibration of camera and LiDAR.
  • Camera-LiDAR data fusion for autonomous mooring operation using deep learning.
  • Design and commissioning of a three-link flexible arm in the motion lab at the University of Agder.
  • Static deflection compensation and oscillation damping control of flexible link manipulators.
 
 
 
 
 
Student Assistant
University of Agder
Feb 2019 – Present Grimstad, Norway
  • Industrial IT and Robotics (Undergraduate Courses).
  • Leading practical/lab and project sessions.
  • Student supervision.
 
 
 
 
 
Robotics Software Engineer
Dorabot Inc.
Oct 2017 – Nov 2018 Shenzhen, China
  • Integration of vision, manipulation and sensor modules in warehouse sorting project.
  • Development of drivers for controlling different manipulators (Yaskawa, Fanuc, and Kawasaki).
  • Automatic calibration of cameras, force-torque sensor, robot and obstacles with high precision.
  • Development of generalized motion planning library for different manipulators.

Accolades

Best Presentation Award
Jan 2021
Received the Best Presentation Award at the 2020 IEEE 11th International Conference on Mechanical and Intelligent Manufacturing Technologies.
Erasmus Mundus Scholarship
European Commission Aug 2015 – Jul 2017
Received Erasmus Mundus Scholarship for European Master on Advanced Robotics Plus (EMARO+) granted by European Commission.

Projects

*
All Modeling Control Others
Flexible Arm
UiA 3R Flexible Link Manipulator
Flexible Arm
Autonomous Mooring
Camera-LiDAR Data Fusion for Autonomous Mooring Operation.
Autonomous Mooring

Gallery

seals.JPG

Publications

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Sébastien Wyckaert, Jan Fredrik Røsjordet, Hanne Bergstøl, Tomas Lyngroth, Andreas Auen, Teodor Aune, Dipendra Subedi, Vegard E. Sødal, Asle Pedersen, Geir E. Hovland (2023). Calibration of a Translational 3-DOF Parallel Kinematic Machine using Full Pose Measurements and Mechanical Adjustments. 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA).

Cite DOI

Dipendra Subedi, Ilya Tyapin, Geir Hovland (2022). Control of Redundant Flexible Manipulators with Redundancy Resolution. 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE).

Cite DOI

Dipendra Subedi (2022). Modeling and Control of Flexible Link Manipulators.

Cite

Dipendra Subedi, Teodor Nilsen Aune, Ilya Tyapin, Geir Hovland (2022). Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity. IEEE Access.

Cite DOI

Dipendra Subedi, Ilya Tyapin, Geir Hovland (2021). Dynamic Modeling of Planar Multi-Link Flexible Manipulators. Robotics.

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