Projects
Six completed builds across control systems, computer vision, manipulation, and mechanical design. Hardware tested. Tradeoffs documented.
Four areas of execution
Control Systems
Computer Vision
Manipulation
Mechanical Design
PID tuning, state estimation, and real-time loop design on embedded hardware.
Detection pipelines, sensor fusion, and calibration workflows on constrained compute.
Arm kinematics, grasp planning, and end-effector design from concept to tested assembly.
Structural prototyping, tolerance analysis, and fabrication decisions made under real constraints.
Shipped. Tested. Written up.
Motor Controller Firmware
Stereo Depth Estimation Rig
4-DOF Desktop Arm
Custom FOC implementation on STM32. Tuned current loop at 20 kHz. Documented every parameter choice and the failures that preceded it.
Built and calibrated a stereo pair for sub-centimeter depth at two meters. Compared three disparity algorithms under real lighting variance.
Designed kinematics, fabricated brackets, and implemented trajectory planning. End-effector repeatability within 1.5 mm across 200 trials.
Differential Drive Chassis
IMU Sensor Fusion Filter
Vacuum Gripper End-Effector
Iterated three chassis versions to solve center-of-mass instability. Final design passed 40-minute continuous run without structural failure.
Implemented and benchmarked complementary vs. Kalman filter for attitude estimation. Drift under 0.8 deg/min at steady state.
Designed for flat-surface pick-and-place. Modeled seal compliance, tested hold force across five surface textures, wrote up the failure modes.
The reasoning lives in the blog
Each project above has a corresponding write-up — the approach chosen, the constraints that shaped it, and what the next iteration would change.