Projects

Operator wearing a VR headset and haptic gloves teleoperating a TIAGo robot; close-ups of the gripper grasping soft objects

ICRA@40 — Visuo-Tactile Sensing with Haptic Feedback for Teleoperated Manipulation

Teleoperated TIAGo humanoid with Vive VR, haptic gloves, and visuo-tactile sensors, presented as primary author at ICRA@40, Rotterdam.

Render of the slip-detection teststand with linear actuator and sensor stack

Visuo-Tactile Slip Detection for Teleoperated Manipulation

Master’s research at TU Darmstadt: a multi-sensor teststand and neural networks for detecting and regressing slip in robotic grippers.

HTC Vive tracker mounted on a MANUS glove used for teleoperation

ICRA ViTac Workshop — Visuo-Tactile Sensing with Haptic Feedback

Earlier iteration of the haptic teleoperation system, accepted to the ViTac workshop at ICRA 2024, Yokohama.

Overview of the bin-picking system: robot cell, part bins, and processing pipeline

Bachelor Thesis — Robotic Bin-Picking via Supervised and Imitation Learning

Neural network-based part selection for semi-autonomous bin-picking of radioactive waste, trained on VR teleoperation data. 73% grasp accuracy at +1.2 ms latency.

Custom Rendering Pipeline in OpenGL

Rendering pipeline with ray tracing, shading, culling, and a custom scene tree, built across four progressive Qt/OpenGL applications.

A completed AlphaZero self-play Connect Four game with move numbers, next to the MCTS policy distribution of a mid-game decision

Reinforcement Learning Agent in Games (AlphaZero)

AlphaZero-based framework that learns tic-tac-toe, Connect 4, and CartPole with a unified model architecture.

Automated coffee machine with touch-screen control

LabVIEW Coffee Machine Automation

Sensor integration, actuator control, and a touch-screen UI for an automated coffee machine, plus a Python simulation of the hardware.

MaxRects placement strategy packing rectangles into square bins

Optimization Algorithms — 2D Rectangle Bin Packing

Greedy and local-search algorithms for 2D rectangle bin packing, with an interactive SDL2 + ImGui visualization GUI.

Franka robot arm drawing with a pen mounted through a visuo-tactile sensor

Tool Contact Force Estimation for Robot Drawing

A pen mounted on a Franka arm through a visuo-tactile sensor; computer-vision algorithms estimate the contact force at the pen tip.

Face identification pipeline of the door opener system

Biometric Door Opener — Ambient Intelligence

AI-based face recognition door opener: on-device face scanning and encoding, with server-side authentication and door control.

Turtlebot performing autonomous pick-and-place

Robotics 101 — Mobile Robot Pick and Place

Full autonomy stack on a Turtlebot: kinematics, vision, path planning, SLAM, and high-level action planning.

Raw GelSight capture of a Euro coin surface

3D Scanning and Measuring with Visuo-Tactile Sensors

3D point clouds and surface stitching from GelSight Mini tactile captures: reconstructing coin surfaces by touch alone.

Gameplay screenshot: a drill tunneling through procedurally generated ground

Serious Games — One-Button Game

A one-button game with procedurally generated levels, multiplayer, and AI voice-over.

Siemens — BOM Full-Stack Web Application

BOM web application integrated with Siemens databases, plus automated user-management workflows.

Simulated NAO humanoid robots playing soccer in Gazebo

NaoBot Soccer Challenge

A team of simulated NAO humanoid robots playing soccer; first place in the class competition.

Power Plant Data Visualization Web App

Django app for exploring large-scale Siemens power plant sensor data: time-series plots, outlier analysis, and topological projections.

Reconstructed brightness-sensor scan of a card digit next to the OCR result

LEGO Mindstorms Blackjack Robot

An autonomous blackjack dealer built from LEGO Mindstorms: card dispensing, brightness-sensor scanning, and OCR card recognition for four players.