Engineering case studies, research systems, and experiments in robotics software, simulation, and autonomy.
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Case study
Waypoint-based sensing went from intermittent failure to repeatable execution across 200+ sim validation cycles.
A simulation-to-real case study on making waypoint-based robotic sensing reliable on an AgileX Piper arm through control redesign, joint-limit validation, an...
Research
Full underwater vehicle sim with adaptive navigation validated entirely in software before any water testing.
Underwater vehicle simulation with magnetic field modeling and adaptive waypoint navigation.
Case study
A UR10 manipulation pipeline that plans, detects, and executes picks with collision awareness — no manual parameter tuning per fruit.
Perception-driven UR10 manipulation pipeline with task planning and collision-aware execution.
Research
A unified control architecture that works across radically different robot morphologies — sim and hardware.
Simulation and hardware control architecture for unconventional modular manipulators.
