Projects
Python
Reinforcement Learning
MuJoCo
Simulation
Modeling
Emergent Locomotion in a Handed Shearing Auxetic Actuated Robot
MuJoCo based HSA actuation model, locomotion primitives and autonomous gait emergence through RL
C++
ROS2
Mapping
Localization
Docker
Collaborative Mapping using a Quadrotor and Quadruped
Building Occupancy Grids using RGBD odometry and 3D point clouds in a Multi-Robot setup
Python
ROS2
MoveIt2
OpenCV
Franka Plays Whack a Mole
ROS2 Package to make the 7-DOF Franka Robot play Whack-a-Mole using MoveIt2 and OpenCV.
Python
Kinematics
CoppeliaSim
Trajectory Generation
Motion Planning
Feedback Control of Omnidirectional Mobile Manipulator
Controlling a KUKA YouBot to pick and place a cube in CoppeliaSim
C
PIC32
Mechatronics
PID Control
Low Level DC Motor Controller with PIC32
PID Control of a DC Motor using a custom PIC32MX170F256B microcontroller dev-board
C++
ESP32
Mechanical Design
PCB Design
KiCAD
Onshape
Paper Byte - ESP32 based EInk Reader
Custom PCB for an EInk display using ESP32
Python
Dynamics
Lagrangian Mechanics
Multibody Dynamics Simulation with Lagrangian Equations
Simulating the physics of a jack bouncing around in a box
Arduino
Max MSP
Digital Music
Knuckles - Music Instrument with Max MSP
A digital music instrument modeled after the Knuckle-style controllers
C++
Particle Swarm Optimization
Trajectory Generation
Trajectory Generation using Particle Swarm Optimization
Solving the Traveling Salesman Problem (TSP) using PSO to generate quadrotor trajectories