All Terrain Autonomous Quadruped

A description of the Kinematic Bicycle Model written in Cython with an animated example.

pynoddy is a python package to write, change, and analyse kinematic geological modelling simulations performed with Noddy.

Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.

In submission

Python package for inverse kinematic calculations of hybrid serial parallel robots

Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.

Probabilistic Motion Modeling Algorithm for Skid Steered Mobile Robots

Implementation of feature-based EKF SLAM with unsupervised learning in C++ from scratch

This project is concentrated on the kinematics of robotic arm motion planning. It utilizes MoveIt2, ROS2 control, c++ and a URDF model derived from CAD STL files. The ultimate goal is to incorporate the Alexa voice recognition and hardware interface to enable the robotic model to grasp objects.

A python algorithm to detect foot contact and foot clearance using kinematic or inertial data during forward or backward walking

MATLAB codes for Stewart Platform model and simulation

Robotics Projects

R package for simulating and analyzing the kinematics of 2D and 3D linkage mechanisms

Kinematic and dynamic modelling of a cable-driven parallel robot used to control an inverted pendulum. Development of a controller to stabilise the pendulum in its vertical unstable position by means of linear quadratic regulators. Validation of the controller in simulation, so it can maintain the equilibrium position despite the appearance of u…

This repository offers an exhaustive resource for the kinematic analysis of mechanical systems. It encompasses a comprehensive suite of tools and documentation for analyzing position, velocity, and acceleration of various mechanisms.

Autonomously drive a car on a track using a kinematic model.

📈 Model of throwing a body at an angle to the horizon, with different parameters.

a robot arm with the kinematics ability and real time recognition