Design and Control of Robotic Hand
Design and Control of Robotic Hand

Robotic hand featuring a wrist, dexterous and power fingers, and a palm for compliant grasping

PythonC++ControlKinematicsCANSPIUARTSEA
Motion planning using Humanoid Path Planner
Motion planning using Humanoid Path Planner

Scanning motion using UR10e robot for surface inspection using Inverse Kinematics and optimized waypoint sequencing

PythonC++ROS2Motion PlanningControlState MachineUR10RealsenseCMake
2D Physics Engine
2D Physics Engine

Physics simulation of a jack bouncing inside a cup under gravity, with external forces acting on the cup

PythonLagrangian/Impact DynamicsRigid Body Transformations
DexNex Simulation
DexNex Simulation

High-fidelity simulation of the DexNex bimanual teleoperation testbed

PythonDrakeROS2HITLRL
Autonomous Drone Navigation in Dynamic Obstacle Environment
Autonomous Drone Navigation in Dynamic Obstacle Environment

Drone navigation using A*, Potential Field and PX4-SITL, simulated in Gazebo

PX4GazeboDronekitPythonNetworkXA*Potential Field
Planning and control of mobile manipulator
Planning and control of mobile manipulator

Simulation of a youBot performing a pick-and-place task in CoppeliaSim

PythonControlTrajectory GenerationOdometryKinematicsCoppeliaSim
Predator-Prey Pursuit in Gridworld
Predator-Prey Pursuit in Gridworld

Simulation of predator-prey interaction using decision-making agents in a grid-based environment

PythonPOMDPA*Planning
Picar
Picar

Raspberry Pi robotic car that avoids obstacles using sonar-based sensing

PythonRPiObstacle Avoidance
Planning in 2D dynamic obstacle environment using fuzzy logic controller
Planning in 2D dynamic obstacle environment using fuzzy logic controller

Real time planning in 2D while avoiding obstacles

MatlabNavigationFuzzy Logic
Planning using dubins and RRT*
Planning using dubins and RRT*

3D planning algorithm that avoids obstacles while meeting minimum turning radius and boundary conditions

PythonTrajectory GenerationRRT*Dubins