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.

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

Probabilistic Motion Modeling Algorithm for Skid Steered Mobile Robots

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

Robotics Projects

MATLAB codes for Stewart Platform model and simulation

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…

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

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.

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

Matlab scripts to compute the kinematics of a large number of robots w/ plots

A python tool that helps you design a delta robot by facilitating the kinematic and dynamic modeling