Selected work
5 projects shown
A custom quadruped platform for autonomous indoor navigation, built across mechanical design, embedded control, simulation, and ROS2.
Developed ROS2 and PyBullet simulation foundations, inverse kinematics, gait control, and interfaces that mirror the physical robot.
A six-axis desktop robot arm designed around custom gearing, coordinated stepper control, and an integrated controller board.
Designed the mechanical system, kinematics, multi-axis motion library, and a four-layer PCB for six TMC2209-driven joints.
A modular mobile robot for exploring localization, visual SLAM, sensor fusion, and practical autonomy from the chassis upward.
Built STM32 motor and dual-IMU interfaces, filtering and state-estimation foundations, plus a ROS2 architecture spanning Raspberry Pi and desktop.
An autonomous chess-playing robot that senses a physical board, plans with Stockfish, and executes moves through an XY gantry.
Combined OpenCV board-state detection, custom controller communication, calibration sensors, and mechanical motion accurate to the chess squares.
A Python and Pygame rendering experiment that projects a block-based 3D world onto a two-dimensional display.
Implemented perspective projection, camera-space mapping, player movement, and memory-aware world loading from first principles.
