I am presently working to understand and model neural control of the musculoskeletal system.
I am also working on a finitist computational mathematics formulation, with a specific focus on
modeling the process of computation and control in mixed-mode analog-digital systems.
Such systems include robots, neuromorphic computers, and the human brain.
Earlier, I earned a Ph.D. in Computer Science at Stanford University, where I was co-advised by Oussama Khatib and Kwabena Boahen. My research involved applying insights from humanoid robotics to predict how the brain should coordinate multiple tasks, and using functional magnetic resonance imaging to identify the brain regions responsible.
Before that, I worked as a Software Design Engineer with Microsoft India R&D. Before before that, I was an undergraduate at the Indian Institute of Information Technology, Allahabad where I earned a Bachelors in Technology in Information Technology.
You may also find me on the Manips Lab, the Brains in Silicon Lab, and the Bio-X Graduate Fellowship pages.
Blog: Musings on human motor control The Human Motor Control Blog.
Operational Space Control Math Tutorials: 3-dof and 6-dof chain robots.
Teaching: Course Assistant for CS223A Introduction to Robotics, and CS327A Advanced Robotic Manipulation. 2010-11.
Standard Utilities (sUtil): Some random but useful C++ code. stl-style indexed data structures, dynamic typing, template singletons and callback handlers.
Standard MRI Utilities (sMRIUtil): Some useful scripts and code that I use for fMRI experiments and analysis. Also has some tidbits of information for new fMRI users.
The Standard Control Library (scl): A control and simulation framework for robots and human biomechanical models. Includes operational space and joint space control libraries, multi-task null space projections for controllers, and support for physical actuator and sensor models. (In the works, contact me if you'd like more details).