Projects

A differential-drive rover that maps a warehouse with LiDAR + SLAM and navigates between pick stations autonomously using the ROS2 Nav2 stack.

Custom inverse-kinematics solver and real-time joint controller for a 6 degree-of-freedom arm, running on an STM32 with a Python-based motion planning frontend.

Object detection with a fine-tuned YOLO model feeding real-time coordinates to a robotic arm for sorting parts by color and shape on a moving conveyor.

Reinforcement-learning-based locomotion policy trained in simulation and deployed onto a small quadruped, with a hand-tuned trot gait as a fallback controller.

Decentralized path-planning algorithm allowing a small fleet of drones to cover a search area without collisions, tested in simulation and on 3 physical drones.

A 4-layer PCB and FOC firmware for driving brushless motors used across my robotics projects, designed to be cheaper and more compact than off-the-shelf drivers.