repositories

View my GitHub profile for public research code, reproducible engineering projects, and supporting implementations.

Friction-aware linear MPC for vehicle path following and stability under reduced tire-force capacity, with robustness and high-speed stress tests.

MATLAB forward kinematics, damped-least-squares inverse kinematics, Cartesian trajectory reconstruction, and Jacobian analysis for a 6-DOF serial robot model.

SCARA robot kinematics, dynamics, Jacobian analysis, workspace evaluation, and nominal computed-torque-control simulation in MATLAB.

ROS 2 Python simulation of a 2-DOF planar robot with trajectory replay, PD tracking, nonlinear dynamics, disturbances, CSV logging, and rosbag workflows.

Compact MATLAB project for linear bicycle-model lateral dynamics and constrained MPC-oriented vehicle-control analysis.

Nonlinear vehicle-dynamics and tire-force modeling project for combined-slip behavior and control-oriented simulation.

Python mobile-robot navigation project with terrain-grid modeling, A* planning, risk-aware costs, and reproducible path-analysis outputs.

Python contact-detection project using tactile/force-style signals for threshold-based event detection and engineering data analysis.