Motion Planning · Robotics · Autonomy
I build motion-planning and robotics systems for autonomous machines.
Selected work
A custom quadruped platform for autonomous indoor navigation, built across mechanical design, embedded control, simulation, and ROS2.
Developed ROS2 and PyBullet simulation foundations, inverse kinematics, gait control, and interfaces that mirror the physical robot.
A six-axis desktop robot arm designed around custom gearing, coordinated stepper control, and an integrated controller board.
Designed the mechanical system, kinematics, multi-axis motion library, and a four-layer PCB for six TMC2209-driven joints.
A Python and Pygame rendering experiment that projects a block-based 3D world onto a two-dimensional display.
Implemented perspective projection, camera-space mapping, player movement, and memory-aware world loading from first principles.
