Raj Kodithyala
Engineering (robotics)
Hometown: Portland, Oregon, United States
Graduation date: Spring 2026
Additional details: Honors student
FURI | Fall 2024
Post Estimation of Soft Arm Using Motor Wire Encoders
Soft robotics offers enhanced safety, adaptability, and flexibility over traditional rigid manipulators. This research focuses on soft robotic manipulators, which use compliant materials like fabrics to achieve motion through stretching and elongation. Accurately modeling these manipulators is essential for applications in manufacturing, human interaction, and medicine, yet remains challenging due to their nonlinear behavior. By utilizing extensive testing and sensor data, the study aims to predict soft arm motion based on key parameters such as arc length and orientation, advancing the field’s practical applications.
Mentor: Wenlong Zhang
Featured project | Fall 2024
Raj Kodithyala, a senior in the robotics concentration of the engineering major, has always loved the field of robotics and wanted to pursue research when he joined ASU. As part of the FURI program, he is working on better understanding and predicting how a soft robotic arm moves with faculty mentor Wenlong Zhang, an associate professor of manufacturing engineering.
What made you want to get involved in FURI, and why did you choose the project you’re working on?
I wanted to explore new opportunities in the robotics world and understand what research work is like. I chose my project because I get to learn, explore new software and design tools, and apply my previous skills to a project with future impact.
How will your research project impact the world?
This research aims to improve human-robot interactions by making robotic systems more predictable, reliable and safe. By focusing on soft robotic manipulators, which offer more flexibility and adaptability than rigid robots, the project seeks to reduce the risks of injury and improve the robots’ ability to operate in dynamic environments.
Did you have a particular “aha!” moment during your project?
I didn’t necessarily have a big “aha!” moment since my project is cumulative over time. I had a series of “aha!” moments when I discovered why a certain electrical component couldn’t be wired this way, how to eliminate a huge code redundancy or a critical step I missed in the modeling approach. I learned how to troubleshoot systematically through an iterative approach.
Have there been any surprises in your research?
In my project, I found that using simple, linear models to represent a complex, nonlinear system is more challenging than expected because nonlinear systems don’t respond proportionally to inputs. This required breaking the system down into smaller, simpler parts to better understand its behavior. By tackling the problem step-by-step, I could make progress without being overwhelmed by the complexity.
How do you see this experience helping with your career or advanced degree goals?
This experience has provided valuable exposure to industry and research tools, including motion capture software and Robot Operating System 2, or ROS 2. Additionally, I have developed proficiency in MATLAB for data post-processing using various advanced toolboxes. These skills will be highly applicable in future roles focused on automation, robotics and system control.
What is the best advice you’ve gotten from your faculty mentor?
It is OK to start small for now and go big later. Don’t jump around without a concrete plan and expect results.
Why should other students get involved in FURI?
FURI gives students the chance to explore fields they might not have experience in, helping them discover new interests and develop useful skills. It also builds adaptability and problem-solving abilities that are valuable for research and future jobs.