Some of the most relevant projects I've worked on.
Visual Inertial Localization and Mapping
Pose estimation and mapping through fused visual and inertial sensing.
Pose estimation and mapping through fused visual and inertial sensing.
Cable driven parallel robot
Design, build and control of a cable driven robot.
A custom cable-driven robot integrating mechanical design, electronics, kinematics, and ROS2-based motion control int...
Omnidirectional robot from scratch
Full design, build and control of a mecanum wheel base.
A ROS2 mecanum platform developed from chassis and electronics through controls, path generation, and physical fabric...
Extended Kalman Filter SLAM
Implementation of kinematics, odometry, simulation and EKF for SLAM from scratch.
An Extended Kalman Filter implementation covering robot kinematics, landmark extraction, simulation, and real-world s...
Bionic prosthesis prototype
Affordable knee and ankle prosthesis prototype.
A low-cost mechatronic prosthesis concept combining custom mechanical design, embedded hardware, and machine-learning...
Monte Carlo Localization
Particle filter for localization in Python.
A Python implementation of Monte Carlo localization focused on motion modeling, measurement updates, and resampling f...
Ground Control Station
Control all the things robotics.
A custom ground control station integrating computing, wireless links, operator inputs, and hardware interfaces into ...
Mobile Manipulation Simulation
Kuka YouBot Kinematics & controls simulation.
A full simulation workflow for a Kuka YouBot covering trajectory generation, odometry, inverse kinematics, and feedba...
Give me your pen!
Pincher grabs pen using CV.
A small perception-and-manipulation system that localizes a pen with a depth camera and executes an autonomous graspi...
Nerfbot
A robot that searches for targets and blasts them down!
A multi-subsystem robot combining vision, arm motion, voice input, and hardware interfacing to detect and shoot physi...
Cablecam
DIY cablecam with hobby components & tools.
A DIY cable camera platform combining embedded control, motion hardware, fabrication, and experimentation into a func...
Neural Network from scratch
Created a fully connected neural network form scratch in python using numpy. Hyperparameters are fully configurable b...