Motion Planning · Robotics · Autonomy
I build motion-planning and robotics systems for autonomous machines, from production software and simulation to embedded hardware.
Selected work
A focused selection spanning quadruped robotics, custom electromechanical design, and deployed community software.
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 community web app that helps people report local litter, organize cleanups, and discover volunteering opportunities.
Built the responsive React and Firebase experience around an approachable reporting flow and community-focused interface.
