mechatronic engineering student
Robots, controllers,
and the math between them.
I build things that move on purpose — legged robots, precision arms, and the firmware/control loops that keep them from falling over. This is the build log.
Current builds
04 modules
ROBOTICS
Quadruped Gait Controller
Trajectory-generated gait engine for a 12-DOF quadruped, closed-loop with IMU fusion at 500Hz.
STM32 · FreeRTOS · C++
CONTROLS
Precision Pick-and-Place Arm
3-axis SCARA arm with sub-0.2mm repeatability, tuned cascaded PID loops and vision-guided offsets.
Python · PID · Stepper/Servo
EMBEDDED
CAN Bus Telemetry Rig
Multi-node sensor telemetry over CAN, logged to onboard SQLite and streamed live over Wi-Fi.
ESP32 · CAN · SQLite
DYNAMICS
Reaction-Wheel Balancer
Single-axis inverted pendulum stabilized via reaction wheel, LQR gains derived from a linearized model.
MATLAB · Simulink · C