Personal projects related to robotics and mechatronic systems.
I designed the frame in CAD, all 3D-printed mounting components, and validated the build through multiple design iterations. The carbon fiber frame is machined by fabrication partners. Full FPV with camera and live video.
Powered by 1–2S 18650 Li-ion, this drone achieves 15–20 minutes conservative flight time. GPS integration enables waypoint navigation and GPS-safe rescue on Betaflight, with support for Betaflight, iNav, and ArduPilot on various flight controllers.
Fits in the palm of your hand—smaller than off-the-shelf micros like the Tinywhoop 65-class. Fully custom build; nothing like it on the market. I designed the frame in CAD, all mounting components (3D-printed), and iterated on the design. I experimented with both 3D-printed frame and carbon-fiber-printed frame at this scale; both are viable. For the production build, the carbon fiber frame was machined by fabrication partners. Equipped with FPV camera and live video footage.
Full-stack quadcopter control system with ROS 2, ROS 2 simulation (Gazebo + RViz), and a custom communication protocol I built from scratch.
Custom PCB—a breakout-style board for ESP32 with motor drivers built in, enabling flight control on the chip. This is the prototype; "Nori AIO" on the PCB stands for Nori (this site) and AIO (all-in-one). I'm also working on a chip-only board that does a lot more than this.
Sim-to-real reinforcement learning control stack for quadrotors. End-to-end system to deploy PyTorch RL policies on real hardware using ROS 2, Betaflight MSP, and ESP32 (CRSF/RC override). Designed for real-world deployment: deterministic control paths, explicit authority handoff, hardware-enforced safety, recoverable failure modes. RL inference on onboard SBC; ROS 2 as control/safety layer; ESP32 enforces RC-side arming and AUX; physical kill always overrides software. FPV not yet equipped.
GitHub Repo
Semi-autonomous mobile robot with web interface. Features: localization-based navigation, wall follow, manual control for target tracking. PID control via motor encoders; position/orientation from Vive tracker integration. RGB LED effects and wheel system live visual feedback. Web-based control: point somewhere, the robot goes. Main board ESP32 for wireless; multiple microcontroller boards.
Panda Franka 7 DOF arm. Robotic manipulation system for pick-and-place operations. Path planning: RRT and potential field—reach the goal while avoiding collisions and obstacles. Forward and inverse kinematics; vision-based object detection.
GitHub Repo
3.5" quadcopter with STM32F4/F5 flight controller, 3–6" battery (typically 4S LiPo)—built for freestyle and racing, very fast.
I designed the frame myself using topology optimization; the frame was fabricated in carbon fiber. Custom mounting and integration. Full FPV with camera and live video.
ESP32-based RC car with browser control. Single-board or dual-board (ESP-NOW) setups; default and omni drive modes. Web interface with virtual joystick.
GitHub Repo
Differential-drive robot with thermal imaging streamed to a web browser. ESP32-based; uses ESP-NOW for wireless joystick control and AMG8833 8×8 thermal sensor. Live heatmap view with bilinear interpolation upscaling (64×64) for smoother visualization.
GitHub Repo
Physical build of my claw machine simulator.
Built multiple distance-sensing tools using ToF and ultrasonic sensors for calibration, validation, and rapid integration tests.
Developed various UAV builds for different purposes, mostly as early-stage work that informed my current drone platforms.
Hands-on playground to explore electrical systems, embedded development, and drone-frame mechanical design, with focus on material selection and structural behavior.
In one of my published research projects, I used Bayesian optimization for Wolfrom bilateral gearbox design. Building on that ML work, I have also made custom gearbox + motor actuator systems for other robotics projects.