Ameya
Phadke.
I design and build robots that move, sense, and think — from full-body humanoid teleoperation to autonomous navigation and custom hardware.
Selected Work
04 PROJECTSHumanoid Teleoperation on Unitree
- A low-latency, full-body retargeting pipeline that maps an operator's motion onto a Unitree G1 — enabling intuitive remote manipulation and locomotion.
- Built support for Apple Vision Pro and Meta Quest 3, and developed a wireless solution that allowed for headless control.
- Sub-30 ms operator-to-robot motion latency across the retargeting loop.
- Full-body IK retargeting mapping 20+ DoF onto the Unitree platform.
- Vision-based operator tracking fused with joint-encoder feedback.
Unified Hardware Platform
- A single modular electronics and compute stack designed to power multiple robots — custom PCBs, power distribution, and sensor breakouts engineered end-to-end.
- Designed with modularity and simplicity in mind, this thermal-safe enclosure plugs into a robot's battery outlet and is mounted on its back. A standardized hardware stack ready-to-go!
- Custom PCB support for 20-28V inputs and 5/10/24V outputs, with overvoltage protection, inductance shielding and discrete power distribution rails for additional safety.
- 6-layer control board integrating regulation, CAN bus, and sensor breakouts.
- Hot-swappable 22.2V pack with per-rail protection (5V / 12V / 24V).
- One stack reused across three distinct robot platforms.
Asynchronous AMR with SLAM
An autonomous mobile robot that navigates unstructured environments using real-time SLAM and an asynchronous planning stack for robust, reactive obstacle avoidance.
- 10 Hz graph-based SLAM with loop-closure over 2D LiDAR.
- Asynchronous planner decouples localization from control at 50 Hz.
- Under 8 cm localization drift over 40 m indoor loops.
Autonomous 3D Extruder on UR10
A custom 3D-printing extruder mounted to a UR10 arm for non-planar, large-format additive manufacturing — driven by toolpath-aware motion planning.
About
I'm a robotics engineer focused on the full stack of getting a machine to act in the physical world — mechatronic design, custom hardware, and the autonomy that ties it together.
My work spans humanoid teleoperation, autonomous navigation, and robotic manufacturing, with an emphasis on systems that are robust enough to leave the lab.
ROS2
OpenCV
PyTorch
TensorFlow
Altium
KiCad
Onshape
Catia
Blender