Featured Projects
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
Other Projects
Arduino
Max MSP
Digital Music
Knuckles - Music Instrument
A digital music instrument modeled after the Knuckle-style controllers
Python
Dynamics
Lagrangian Mechanics
Multibody Dynamics Simulation
Simulating the physics of a jack bouncing around in a box
C
PIC32
Mechatronics
PID Control
Low Level Motor Controller
PID Control of a DC Motor using a custom PIC32MX170F256B microcontroller dev-board
MATLAB
Trajectory Generation
Control
Quadrotor Control and Trajectory Generation
Generating a minimum snap trajectory and implementing PD control on a quadrotor
C++
Particle Swarm Optimization
Trajectory Generation
Trajectory Generation using Particle Swarm Optimization (PSO)
Solving the Traveling Salesman Problem (TSP) using PSO to generate quadrotor trajectories
Virtual Reality
SteamVR
Arduino
SenseVR - SteamVR Compatible Headset
Custom Designed Virtual Reality Headset based on HadesVR