Robotic Dexirty Hand [Control software]

• Developing an 8 DOF hand-wrist-arm system, including a 4 DOF dexterous finger, 1 DOF power grasping finger, a 3 DOF wrist, and an arm housing for electronics
• Responsible for ROS package for communication between microROS on Teensy 4.1 and laptop via EtherCAT
• Coordinating with eletrical team with motor driver board development for FOC including op-amp based current sense, gate driver, GaNFETs, and hall-effect sensors via CAN and SPI

2 DOF finger with N+1 Routing [C++, CAN, BLDC]

• Worked on cross-functional software, electrical, and mechanical engineering (7 students) team and successfully shipped a fully integrated (hardware, controller, user interface) 2-DOF dexterous robotic finger within a 3-week project cycle
• Scripted C++ firmware library for real-time BLDC motor control, implementing field-oriented control with space vector PWM and closed-loop PID algorithms for precise torque regulation in an 8 DOF power grasp robotic hand
• Architected inter-board communication protocols and control libraries using SPI, CAN, and EtherCAT, debugged with Saleae logic analyzer, and enabled integration between encoder, motor drivers, and sensor feedback in real-time
• Established communication via Teensy 4.1 using ROS 2 and microROS with RTOS (FreeRTOS) functionality and built a ROS package dedicated for EtherCAT message I/O and parsing for real-time monitoring on user interface
• Designed encoder boards and motor driver boards (gate driver, GaN FETs, current sense) on ARM Cortex-M7 processor platform using Altium, implementing pin budgeting and precision signal routing for reliability

KUKA youBot Pick and Place [Python]

• Created a robotic manipulation simulation for KUKA youBot (4-wheeled omnidirectional mobile base + 5R arm), implementing trajectory generation using screw theory, SE(3) transformations, and Mecanum wheel kinematics
• Built PI feedback control system with pseudoinverse Jacobian for end-effector tracking, incorporating joint limit constraints and singularity handling for stable pick-and-place operations
• Designed modular codebase with configuration management and comprehensive error visualization, enabling autonomous manipulation tasks with error convergence across test scenarios
• View on GitHub

Vision Pro Simulator [Python, TensorFlow]

• Developed lightweight Vision Pro simulator with real-time hand gesture and motion recognition achieving >90% accuracy using custom MLP and LSTM neural networks, trained under 90 seconds on CPU
• Implemented interactive photo manipulation features including drag-and-drop, scaling, rotation, and drawing tools using computer vision techniques and bilinear interpolation
• Devised robust hand tracking system maintaining accuracy across varied lighting conditions and multi-user scenarios, with modular pipeline for detection, tracking, and gesture recognition
• View on GitHub
• See full video on YouTube

Invariant Unscented Kalman Filter for Distributed Robotic System [Matrix Lie Group, Multi-agent SLAM, Sensor Fusion]

• Proposed a target tracking algorithm for distributed time-variant system in 3D with invariant (using matrix Lie group and Lie algebra) UKF for distributed state estimation
• Applied Inverse Covariance Intersection sensor fusion algorithm as a consistent and less conservative method while handling unknown distributed covariance
• Performed 50 trials of Monte-Carlo simulation at different communication rate (including centralized system) and calculated position and orientation RMSE to show algorithm is robust to time-varying communication topology

Search Algorithm Visualization [C++]

• Created a visualization tool for search algorithm including A*, Dijkstra and BFS with different types of distance measurement (Euclidean, Manhattan, Chebyshev)
• View on GitHub

Planning and Control based on Vehicle Dynamics [C++]

• Implemented a Planning and Control algorithm based on vehicle dynamics to simulate and analyze vehicle behavior in complex driving scenarios such as overtaking, navigating crosswalks, and executing precise parking maneuvers
• View on GitHub

Lower Limb Exoskeleton Transparency Control [Python, ROS, Testing]

• Developed a test system for transparent haptics rendering on lower-limb exoskeleton using ROS Noetic
• Evaluated and validated parameters for PID and IIR filter by generating Bode plot and shift in RMSE in Python
• Achieved near zero output at human movement frequency with a less than 10ms delay in real-time

Line Following Robot [Embedded C++, PID]

• Devised a path following robot based on ATmega32U4 for at 4m/s in low lighting condition
• Tuned PID position controller based on IR sensors and PD speed controller based on encoder via trial-and-error, and attained an over 95% success rate
• Established UART communication with ESP32 as a Wi-Fi module to receive command from a higher-level controller, integrated a circuit consisting of a power source and LEDs for computer vision

2R Robot Impact Simulation [Lagragian Mechanics, Numerical Analysis, Python]

• Modeled a rigid body (with elastic impact) inside a box handled by a 2R robot as an end effector via Lagrangian mechanics and RK4, and implemented gravity compensation due to mass of the links and joints of the robot with optimal control
• View on GitHub

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