Projects

Differential-drive indoor robot with LiDAR-based obstacle avoidance and ROS2 navigation stack, built on a custom STM32 motor controller PCB.

• STM32
• ROS2
• C++
• LiDAR
• PCB Design
• FreeRTOS

Tendon-actuated, fully 3D-printed soft gripper for handling delicate and irregular objects. Five independently controlled TPU fingers driven by mini servo motors.

• Mechanical Design
• 3D Printing
• Python
• Servo Control
• Fusion 360

Lightweight C++ library implementing field-oriented control for BLDC motors on resource-constrained microcontrollers, with no external dependencies.

• C++
• Embedded
• FOC
• BLDC
• SVPWM
• STM32

Hot-swappable sensor node system for rapid prototyping. Each node exposes a common I2C interface and handles its own power regulation, supporting IMU, ultrasonic, IR, and environmental sensors.

• PCB Design
• I2C
• KiCad
• STM32
• C++