Demonstration Learning via Diffusion Policy on 7 DOF Robot Arm
Demonstration Learning via Diffusion Policy on 7 DOF Robot Arm

Implement diffusion policy models on specialized task using a Franka Panda Arm.

PythonMachine LearningROS2
A* Search Algorithm Implementation
A* Search Algorithm Implementation

Applying A* Algorithm on Real Robot data

PythonArtificial IntelligenceMobile RobotsSearchPath Planning
Neural Net from Scratch

Coded a fully connected neural net from scratch.

PythonMachine LearningMobile Robots
Drone Obstacle Avoidance
Drone Obstacle Avoidance

Tello drone to autonomously traverse an obstacle course.

PythonOpenCVMachine LearningROS2
Mobile Manipulator Pick and Place
Mobile Manipulator Pick and Place

Python simulation of a pick and place task using a Kuka youBot.

PythonRobot ManipulationMotion PlanningInverse KinematicsPID ControlScrew TheoryCoppeliaSim
Impedance Controller on 7 DOF Robot Arm
Impedance Controller on 7 DOF Robot Arm

Developed and Implemented novel impedance controller on Franka Panda Arm.

C++libfranka
BotROS - The Painting Robot
BotROS - The Painting Robot

ROS2 package to autonomously paint using an Emika Franka Panda arm.

ROSPythonMoveItOpenCVApriltagsRobot ManipulationAutonomy
Deep Learning for WBAM Estimation
Deep Learning for WBAM Estimation

Optimized a Temporal Convolutional Network (TCN) to estimate Whole Body Angular Momentum (WBAM) from wearable sensors

PythonMATLABMachine LearningWearable RoboticsWearable SensorsPyTorch