Armstone found a new home
Say farewell to Armstone!
Armstone at 3D Pioneers Challenge 2023
Machinery Category Winner!
In May 2023, Armstone embarked on an exciting adventure, while disassembled and stored over two cars, we jorneyed all the way to Erfurt, Germany, to participate in the 3D Prioneers Challenge 2023.
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Armstone Robot For Sale!!
Reach out !
Due to various resourcing and risk mitigation reasons - the development of the Armstone robot, although part of my PhD, was fully financed by me. As the PhD is drawing to a close, I am trying to recover the costs of development. Thus I’m selling the robot! Whole or in...
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Connect-R
Hybrid Discrete-Continuous Path Planning for Lattice Traversal
The results of the work I’ve undertaken as parth of my employment at Ross Robotics are now accepted for publication at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022).
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Armstone at Reddit Robotics Showcase 2022
Media Album
The Armstone robot got into the Reddit Robotics Showcase 2022. Here lies a media album for to show off Armstone in action!
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Autonomous Mobile 3D Printing
Armstone
The last few years of my PhD are slowly coming together. This is what it’s all been about: Autonomous Mobile 3D Printing of Large-Scale Trajectories. The robot is only given the print path and it figures out the rest. These results are in review as part of a submission to...
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Task-Consistent Path planning
Towards mobile 3D printing
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...
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Armstone Build
Armstone
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...
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Connect-R
A Unique Motion Planning Problem
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...
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Interactive Waypoints
List of interactive waypoints
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...
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ros_msgdict
ROS messages as app parameters
I don’t like large blocks of code that are often neccessary to fill a ROS message. For me, blocks like these look horrible:
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WIP Spot Micro
Could one sell a quadruped on etsy?
Summer of 2020 I had some extra time and decided to give the Spot Micro project a shot. Now unfortutatly I’ve run out of time and never finished the electrical system :/ Still tho, som cool 3D printing was achieved:
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DnD Figurines
Therapeutic printing
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....
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YouWasp
Towards Autonomous Multi-Robot Mobile Deposition for Construction
YouWasp paper explored the problems that arise when mobile printing robots interact with one another, the environment and the print task. The project was in collaboration with Benjamin Tan who was a MSc student under my supervision at the time. Here is the video associated with the paper:
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Mobile Agile Printer
Robot for on-site Construction
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....
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Robotic Sensing, Manipulation and Interaction
Developing the Coursework for module @UCL
One of the first side projects I did during my PhD was develop the hardware coursework for the Robotic Sensing, Manipulation and Interaction module offered by UCL Masters in Robotics and Computation programme.
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Cyclochops
Coursework on haptic teleoperaiton
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...
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MPC Internship
Second internship @Mathworks
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...
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Mathworks Mars Rover
Simulation environment for a student competition
A cute little project I did whilst at Mathworks was prep a simulation environment for their Mars Rover competition. The idea was to port existent controllers and behaviour state machines to work with ROS and Gazebo. This actually was my very first ROS experience. I had to build my first...
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Drone From Scratch
Internship @Mathworks
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...
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