Robotics & perception

Projects

Projects in robot control, motion planning, computer vision and mechatronic design.

Rectified stereo input, reconstructed depth and colored point cloud

3D Reconstruction and Neural Rendering

Spring 2026

Calibrated stereo reconstruction and NeRF evaluation: 24.19 dB PSNR / 0.831 SSIM over six 100×100 test views in one scene.

Stereo vision · NeRF · PyTorch

Project page GitHub

Physical ROBA robot with MDF frame, four-wheel drive, servo mechanism and sensors

ROBA Mobile Robot and Embedded Control

Fall 2025

ESP32 master/slave sensing, Python gamepad control, wall following, Vive target navigation and timed competition-task sequences.

ESP32 · Python · Embedded control · Hardware

Project page →GitHub

State and input plots comparing planar quadrotor LQR and MPC hover recovery

Robotic Motion Planning and Optimal Control

Fall 2025

Input-constrained MPC and clipped LQR on a nonlinear planar quadrotor, alongside minimum-snap waypoint planning.

Python · NumPy · SciPy · OSQP

Project page GitHub

UR16e simulated arm and end-effector path around an obstacle

UR16e Motion Planning and Control

Jun–Aug 2025

Collision-checked RRT paths, smooth joint timing and torque-driven tracking, checked against independent dynamics calculations.

Python · PyBullet · RRT · Dynamics

Project page GitHub

Wearable upper-limb robot with hand, wrist and elbow mechanisms

Upper-Limb Rehabilitation Robot

Fall 2024

An integrated wearable prototype with hand grasping, belt-driven wrist rotation, a curved-guide elbow and STM32/IMU control. Outstanding Course Project Award.

Mechanism design · STM32 · Fabrication

Project page →

Fixed-wing RC aircraft being assembled on a workshop table

RC Fixed-Wing Aircraft

Spring 2023

A 3D-printed fuselage, integrated propulsion and radio-control equipment, ground testing and a completed flight.

Aircraft build · RC electronics

Project page →