Robotics research, locomotion, and hardware — click a body part on the home page to jump here.
Frontier-based active exploration with cluster-based zone selection and blacklisting. The robot autonomously navigates unknown environments, building dense 3D maps while searching for target objects. Implemented and debugged in ROS2 as part of supervised research at University of Bonn.
Full-stack whole-body controller for the Unitree G1 humanoid. Stable standing balance, LIPM walking trajectory generation, and bilateral sinusoidal arm motion — all visualised in MuJoCo. Phase 3 targets online MPC via Herdt et al. for reactive walking.
Built on the open-source Spot Micro project during B.Tech. Assembled the 3D-printed hardware, wrote custom Arduino code for servo control, and implemented WASD keyboard teleoperation over WiFi. Integrated a MLX90640 thermal camera and YOLOv8 for real-time survivor detection in low-visibility environments.
Projects in the pipeline — research directions and hardware builds currently being scoped.
Expanding the G1 whole-body control stack onto the Unitree Go2 quadruped. Implementing TSID-based loco-manipulation with Pinocchio, MuJoCo simulation, and a path toward autonomous navigation and real hardware deployment.