Task-Consistent Path planning

Towards mobile 3D printing

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It is often the case that robotics conferences view hardware papers with with more leniency. Exactly for this reason, I am extra proud of my paper on Task-Consistent Path Planningas , unlike my first two papers, it had no hardware components at all. This work is entirely in constrained sampling... [Read More]
Tags: Research

Armstone Build

Armstone

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To help finish off my Phd, I’ve decided to invest some money into my own robot. It took few weeks of planning, hours and hours of CAD modelling and a million Ebay browser tabs. I’d also like to thank Jose Mendoza, Bart Garcia-Nathan, Sebastian Kay and George Dwyer for providing... [Read More]
Tags: Research

Connect-R

A Unique Motion Planning Problem

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During my time at Ross Robotics, I’ve worked on a really cool Innovate Uk project - Connect-R. The idea was to use self-assembling hydraulic structures to delivery infrastructure service for nuclear disaster or decomissioning applications. The Ross Robotics side of it was concerned with a Multi-Task-Bot that is a hopper... [Read More]
Tags: Professional

Interactive Waypoints

List of interactive waypoints

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At some point while working for Ross Robotics I was tasked with coming up with a solution for navigating the robot along predescribed waypoints. The idea was that someone using RR robots coudl define a path for them to follow many times. While, move_base provides a nice pose-to-pose functionality, such... [Read More]
Tags: Professional

DnD Figurines

Therapeutic printing

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I’ve always found physical labour therapeutic. Naturally, this meant that getting my first personal 3D Printer (Prusa MK3S) lead to a fury of house DIY projects. However, there are only so many custom shelves you can make and so I turned to the time sink vortex that is dnd figurines.... [Read More]
Tags: Hobby

Mobile Agile Printer

Robot for on-site Construction

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Mobile Agile Printer was my very first paper. It is a systems intergration work that merges my own and Daniel Butters’ MSc projects together. The paper covers two main topics - the omni-directionality of this custom mobile base and the (lack of) deterioration of arm end-effector trajectory during base motion.... [Read More]
Tags: Research

Cyclochops

Coursework on haptic teleoperaiton

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One of the cooler courseworks I’ve done during my MSc time @UCL was the Cyclochops project. The coursework task was very open ended - write a mock paper. So I have a developed a teleoperated robot for inspection. The main idea was to see if its possible to create a... [Read More]
Tags: Edu

MPC Internship

Second internship @Mathworks

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A year after the Quadcopter project, I went back to Mathworks for yet another internship. This time I was helping out on project helping Imperial College London to create a Model Predictive Control (MPC) course coursework using Mathworks products. Supervised by Kameswarie Nunna, I was learning MPC and creating exercises... [Read More]
Tags: Professional

Drone From Scratch

Internship @Mathworks

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Back in 2014 I did my very first internship at Mathworks. The project was an application engineering one. Under the supervision of Owen McAree we’ve constructed a custom UAV for exhibition at MATLAB Expo 2014. The project aimed to showcase that you can use matlab codegen with hobby level targets... [Read More]
Tags: Professional