Robotics & applied mechatronics
currently building
things i'm working on
A running log of hardware and software projects.
KB / ARM-01 shelved
Armikochan: 8-DOF Robotic Arm
An open source, 8-axis ROS2 robotic arm built from scratch. It features ROS2/MoveIt2 control system, custom 3D-printed planetary gears, and FSR based tactile feedback for gripper.
ROS2 MoveIt Servo ESP32-S3 C++ Python
github repo →
KB / BAL-02 in progress
Bipedal Self-Balancing Robot
Two degree of freedom per leg, driven by steppers and servos, with dual IMUs for sensor redundancy. Running a hand-tuned PID loop on an ESP32, it balances for a few seconds so far, with more tuning and hardware upgrades planned.
ESP32 PID SolidWorks
github repo →
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Thanks to the people and companies helping these builds move forward.
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PCB manufacturing support for hardware builds.
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3D printing filament support for hardware builds.