Projects (This page is actively being edited)

Kendo Robot: Combining Robotics Technologies with Martial Art

December 01, 2023

A supervisory teleoperation kendo robot system. The robot is able to track the opponent’s pose and wait for the operator’s command to attack. Robotics competition winner as a team leader in the course project of CSIE5074 Robotics, offered by Prof. Li-Chen Fu @ NTU EE. kendo_robot

CGA IK: Closed-Form Inverse Kinematics Solver Based on CGA

November 01, 2023

A closed-form IK solver for 6-DoF collaborative robotic arm based on conformal geometric algebra (CGA). cga_ik

Attitude and Angular Velocity Estimation of Surgical Robot Using Sensor Fusion with Optical Tracker, IMU, and Quaternion-Based Extended Kalman Filter

May 01, 2023

Quaternion attitude and angular velocity estimation via NDI, IMU, and EKF/UKF. kf_cpp

Furuta Pendulum Balancing Control and Disturbance Rejection via State-Observer Feedback and Internal Model Design

December 01, 2022