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.

All Terrain Autonomous Quadruped

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

Robotics Projects

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

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

Python package for inverse kinematic calculations of hybrid serial parallel robots

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

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

rscuad simple framework for humanoid robot

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…

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

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

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

Mathematical Modeling of Robots Toolbox

RoboND-Kinematics-Project

This GitHub repository contains the homework assignments completed as part of the course EE-CE-CS-366-366-380: Introduction to Robotics. The assignments include four different blocks: Vision Block, Forward Kinematics Block, Inverse Kinematics Block, Control Block, and Trajectory Block. Each block is a crucial aspect of robotics

Analyzing passive dynamic walking behavior in the context of both falling and non-falling trials, simulating slipping and tripping scenarios.

A path planning and control method is developed for the scenario of a non-holonomic robot serving food in a restaurant.