Building and exploring

Projects

From contact interfaces to complete robotic systems.

Research

Robotic hands and the mechanics of interaction.

PLATO Hand↗

Shaping Contact Behavior with Fingernails for Precise Manipulation

ARISTO Hand↗

Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation

DevLog

Systems, hardware, and control behind the experiments.

Robot Hardware Series [KR]↗

Robot hardware notes from a Physical AI perspective

CAN in Robotics Series↗

CAN-based robot hardware design with SocketCAN, PCAN, and ROS2

WBC Software Architecture↗

From humanoid task references to robot models, task hierarchies, and whole-body controller software.

Earlier projects

Selected work across robotics and embedded systems.

Whisker-based Tactile Sensing and Shape Classification↗

active vibrissal sensing to classify concave and convex objects using ANN and investigation of the transformation from the whisker base frame to the head frame using RL

Autonomous Fire Fighting Robot Arm↗

Sensing and Localization of Fire & Manipulation of Fire Extinguisher

Brushed DC Motor Control with PID Controller↗

Brushed DC motor control with NU32 microcontroller and DRV8835 H-bridge motor driver

Programming PIC32 with C↗

UART, SPI, LCD, LED, IMU, and more

Cup Tower Stacking with Baxter↗

Baxter stacks tower of cups with MoveIt, AprilTag, and OpenCV

Impact Modeling with Euler-Lagrangian and Hamiltonian Mechanics↗

4 point mass system impact simulation in Python with SymPy