robots

Hardware I've designed and built from scratch — manipulators, vehicles, and the sensors that drive them.

Before (and alongside) the math, I build the machines. A running list of robots and sensor systems I’ve designed and built by hand — mechanics, electronics, firmware, and control.

SmartArm — reconfigurable modular manipulator

A series of modular arms with full closed-loop perception control, reaching the repeatability of far more expensive manipulators. ROS Noetic middleware, a custom asynchronous MoveIt! pipeline that re-plans on the fly, and an adaptive feedforward dynamic controller. Details →

Tyrion — a 6-DOF arm that fits on a desk

Tyrion, a tiny 6-DOF desktop industrial manipulator.

An extremely tiny 6-DOF industrial manipulator — desktop-sized, built to industrial-style precision. Details →

Ultrasonic localization system

Ultrasonic localization sensor hardware.

Ultrasound fused with an IMU via an Extended Kalman Filter — ~0.5 mm accuracy in xyz, ~0.01 rad in rotation, at 1000 Hz on an STM32. Details →

ROS autonomous vehicle

ROS autonomous vehicle.
Map built by the ROS vehicle using Gmapping SLAM.

A SLAM-capable vehicle running ROS on a Raspberry Pi, with a custom STM32 low-level controller for the IMU and motors, mapping via Gmapping. Details →

3Arobot — 3D-printed manipulators

3Arobot 3D-printed robotic manipulators.

A series of 3D-printed manipulators with competitive accuracy — they write, draw, and (with a heating extruder) double as 3D printers. Details →

Teaching robots — Fudan Science Camp

Fudan science camp robotics workshop.

I built a ROS + lidar mobile platform and used it to teach 100 high-school students the basics of SLAM and ROS programming. Details →