Projects
Robotics and control
Rotary Inverted Pendulum
Ongoing
Hardware for validating Rapid Motor Adaptation (RMA), now moving to simulation to close the sim-to-real gap.
ZMP Analysis & Motion Generation for Humanoids
Final year project, extended
Reproduced CLoSD and added zero-moment point analysis to check whether diffusion-generated humanoid motions are dynamically stable.
Self-Balancing Robot
A two-wheeled self-balancing robot built from scratch, first on Arduino Nano and then rebuilt on ESP32.
3-DoF Robotic Arm
A 3-DoF arm driven by stepper motors and an Arduino Nano, designed in Autodesk Inventor and Fusion 360.
2-Axis Gimbal
A two-axis self-balancing platform with one servo per axis and IMU feedback, running FreeRTOS on an ESP32.
Digital hardware
RISC-V Processor Design
An RV32I microprocessor implemented in Verilog HDL.
SHA-256 Accelerator for RISC-V
A hardware accelerator for SHA-256 on a RISC-V processor, built from selected functions of the Zknh extension.
Digital Piano
An eight-key electronic piano with memory and replay, built from ICs only, without a microcontroller.