Writeups

Deep dives into projects, research, and things I've built.

2021

Walker: A Simple Millipede Bot

Bio-inspired robotics thesis exploring millipede and centipede locomotion to develop a cost-effective, 3D-printed cam leg mechanism for terrain traversal. Includes kinematic modeling, Simscape simulation, and hardware validation.

Bio-Inspired RoboticsCam MechanismsGait KinematicsMATLAB

2021

Attitude Estimation Using Complementary Feedback Filter

Investigating cheap sensor fusion (gyroscope, accelerometer, magnetometer) to build an Attitude Heading Reference System. Covers DCM rotation matrices, forward integration drift, Rodrigues rotation, and closed-loop complementary filtering.

Sensor FusionAHRSDCMIMUComplementary Filter