Below are some of the recent projects I have worked on. For the full preview, visit my Github page.
Embedded Files
KUKA ROS Interface with Gazebo
Interface real KUKA LBR R820 with ROS. Integrated with gazebo. This repository include code for
Real time motion generation and force control
Gazebo simulation and seamless switching between real
Library for motion primitives (e.g., P2P, Splines)
Python, C++
Differential Dynamic Programming (C++) with Autodiff
Real-time Differential Dynamical Programming in C++. Features include:
Automatic Differentiation
ADMM implementation
C++
Robot Simulation with Screw Theory (Matlab, TD: Python)
Plotting functionality for Exponential Product derived robot kinematics. Features include:
Multi-Robot animation
2D and 3D robot animation
LightWeight version of Peter Corke's tool-box in Exponential Product formulation
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