Calculation of forward and inverse kinematics, Jacobian matrices, dynamic modeling, trajectory planning and geometric calibration for robotic manipulators

Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System)

Code for keypoint-based visual servo IROS2020

PyTorch implementation of the paper Overcoming Exploration in Reinforcement Learning with Demonstrations in surgical robot manipulation tasks.

The ROS drivers for the svenzva arm product line.

Robot Operating System (ROS) based Robotic Arm used in Kitchen Automation

This project focuses on training robots to grasp everyday objects accurately. We gather a unique point cloud dataset using an iPhone's LiDAR and process it with Polycam. We develop a PointNet model from scratch to perform multi-class classification and part-segmentation, guiding the robot on where to grasp objects.

Service robot development for RoboCup @Home OPL

Python and OpenCV used to Control an Underactuated Robot Manipulator

Reinforcement learning, robotics simulation with agent using NAF+HER learning method. Agent's task is to fetch puck to desired position using dynamic contact.

Simulation and trajectory control algorithms of the ARM 5E Mini manipulator.

robotic arm for pick and place where it is controlled using PS4 controller or image processing

This repository showcases my project focused on implementing a pick and place operation using a 9 Degrees of Freedom (DOF) mobile manipulator robot in Gazebo, along with Rviz visualizations. The application is geared towards cleaning in compact and cluttered environments.

Design and Simulation of a sorting manipulator.

This is a python based solver for forward and inverse kinematics for planar robotic manipulator.

A controller for the humanoid robot NAO for interactive human-to-robot object handovers

There are two generalized classes, actuator and robot, which implement n-DOF (degrees of freedom) articulated manipulators. These classes can be used to implement a range of LEGO Mindstorms robots. This software is at the prototype stage. The eventual goal is to incorporate machine vision and interface to an inverse kinematics library.

This repository showcases my work in Planning for Autonomous Robots, focusing on planning techniques applied to industrial robots such as KUKA. The work involves leveraging Moveit in Gazebo for proficient execution of pick and place operations. Throughout the course, I also learned various 2D search algorithms, ranging from A* to RRT and its types.

🤖 Simulate and control two Universal Robots arms simultaneously using NVIDIA Isaac Sim. Explore real-time control, collision avoidance, and path planning in a digital twin environment.

NTUA Master Robotics Contol System Semester Exersice