At IUST robotics research lab, I worked on developing a quadruped robot based on the MIT mini cheetah. I developed single and parallel PID control loops for its actuators using CAN.
I also set up communication networks and real-time systems on embedded boards, and developed programs to collect, fuse, and log sensor and camera data. For navigation, I set up RTAB-Map and ORB-SLAM3 with an Intel D435i camera and Lidar, and designed a program to create occupancy grid maps from ORB-SLAM3 point clouds.
In my projects, I built Chessaton, a 4DOF robotic arm programmed to play chess with my C++ chess engine Kojiro. I also created a ROS2 control panel for a quadruped robot and a custom Arduino-based RepRap 3D printer.
