Featured Projects
C++
Python
ROS2
YOLO
CAD
Self-Reconfigurable Quadruped from Scratch
A quadruped capable of walking, rolling, and bowling
Python
ROS2 MoveIt2
OpenCV
The Pool-inator
The Franka Emika Panda 7-DoF arm plays pool autonomously using MoveIt2 and OpenCV
Python
CAD
OptiTrack
Autonomous Aerial Painting with Quadrotors
Multi-agent control system enables drones to paint drawings
More Projects
Python
Trajectory Planning
Manipulation
Feedforward Control
KUKA youBot Mobile Manipulation
Trajectory planning and control of the youBot mobile manipulator in CoppeliaSim
C++
Python
Computer Vision
Clash of Hands
The Allegro Hand to play rock-paper-scissors using machine learning strategies that help it get smarter with every game
Python
OpenCV
Manipulation
Pen Stealer
The PincherX 100 robot grab a pen autonomously
C++
Arduino
Max/MSP
Digital Music
Glowphonic
An interactive musical instrument with touch petals, IMU-based tremolo, and reactive lighting synchronized via ESP32 and Max/MSP
C++
Motion Planning
Frenet Frame
A*
OpenCV
Autonomous Vehicle Motion Planner
A layered motion-planning stack in C++ where a simulated car plans an A* route, samples smooth Frenet-frame trajectories, scores them, and drives itself around obstacles to the goal
CAD
Mechanical Design
Passive Grippers
Gripper and Droxel Design for Drone Construction
Designed a lightweight passive gripper and modular building block (droxel) enabling drones to reliably pick, carry, and place structures under strict weight and alignment constraints