All Terrain Autonomous Quadruped

pynoddy is a python package to write, change, and analyse kinematic geological modelling simulations performed with Noddy.

Python description of the Kinematic Bicycle Model with an animated example.

Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.

Code for IROS 2021 paper: Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations.

Python package for inverse kinematic calculations of hybrid serial parallel robots

Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.

Implementation of feature-based EKF SLAM with unsupervised learning in C++ from scratch

Probabilistic Motion Modeling Algorithm for Skid Steered Mobile Robots

A python algorithm to detect foot contact and foot clearance using kinematic or inertial data during forward or backward walking

Robotics Projects

Autonomously drive a car on a track using a kinematic model.

R package for simulating and analyzing the kinematics of 2D and 3D linkage mechanisms

Kinematic and dynamic modelling of a cable-driven parallel robot used to control an inverted pendulum. Development of a controller to stabilise the pendulum in its vertical unstable position by means of linear quadratic regulators. Validation of the controller in simulation, so it can maintain the equilibrium position despite the appearance of u…

📈 Model of throwing a body at an angle to the horizon, with different parameters.

Matlab scripts to compute the kinematics of a large number of robots w/ plots

This repository offers an exhaustive resource for the kinematic analysis of mechanical systems. It encompasses a comprehensive suite of tools and documentation for analyzing position, velocity, and acceleration of various mechanisms.

A python tool that helps you design a delta robot by facilitating the kinematic and dynamic modeling

Repo for my ongoing open source project to build a cross platform motion simulation software