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Projects

Some projects I've worked on.

Humanoid Locomotion

An omnidirectional walk engine for a humanoid robot using a combination of inverse kinematics and a quintic splines for smooth and efficient walking.

Humanoid Localisation

Localisation of humanoid robots on a soccer field for RoboCup competitions.

Github

Humanoid State Estimation

Floating-base state estimation for a humanoid robot using Mahony filter and kinematic odometry.

Github

Onshape to URDF pipeline

A pipeline to generate URDF file of NUgus robot from Onshape.

Github

tinyode

tinyode

tinyode is a lightweight C++ library which provides various ordinary differential equation solvers.

Github

RoboCup computer vision

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.

Github

tinyrobotics

tinyrobotics

tinyrobotics is a lightweight C++ library which provides core robotics algorithms for kinematics and dynamics.

Github

tinympc

tinympc

tinympc is a lightweight C++ library that implements general linear and non-linear model predictive control (MPC).

Github

urdf-visualizer

A web application for visualizing robots defined using a URDF file.