Below are some of the recent projects I have worked on. For the full preview, visit my Github page.

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:

Github Link