Some projects I've worked on.
An omnidirectional walk engine for a humanoid robot using a combination of inverse kinematics and a quintic splines for smooth and efficient walking.
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Localisation of humanoid robots on a soccer field for RoboCup competitions.
Floating-base state estimation for a humanoid robot.
NUbots competed in the 5v5 robot soccer league at the World Humanoid Robot Games in Beijing, placing 5th in the world.
NUbots' journey and performance in the RoboCup Humanoid League from 2020 to 2025.
Real-time humanoid state estimation fusing IMU attitude, kinematic odometry, and monocular visual SLAM for robust drift-free locomotion.
Combining learned RL policies with model predictive control for robust and constraint-aware robot manipulation.
Point cloud based visual planning and nonlinear MPC for autonomous robotic vine pruning.
A pipeline to generate URDF file of NUgus robot from Onshape.
A vision module for detecting and estimating the Cartesian position of Balls, Goals, Robots, Field Intersections (X, L, T) using YoloV8n for the RoboCup competition.
tinympc is a lightweight C++ library that implements general linear and non-linear model predictive control (MPC).
tinyrobotics is a lightweight C++ library which provides core robotics algorithms for kinematics and dynamics.
A web application for visualizing robots defined using a URDF file.
Let's get in touch.
