Minimal Inverse Kinematics library
The project focuses on the integration and control of various types of end-effectors, including Robotiq, OnRobot, ABB Smart Gripper, and SMC's custom grippers, within the Unity3D environment.
Forward Kinematics of a 3DOF Robotic Arm and Position of End Effector(spherical)
The project demonstrates the creation of several modular end-effector prototypes for robotic arms (ABB, Universal Robots).
Gear synchronized parallel gripper for SO-101
In this project we are made a connector system that can change to multiple end effectors easily without any human intervention.
A tendon-driven continuum robot with theoretically infinite degrees of freedom, built from scratch using 3D-printed components, servo-actuated spools, and a custom Arduino PCB shield. Achieves 8 distinct end-effector positions through coordinated tendon actuation for manipulation in confined and constrained spaces.
Visualize end-effector spatial distributions and task-description semantic embeddings across 50+ Open X-Embodiment datasets. Built to identify OOD task candidates for RL fine-tuning of OpenVLA and similar models.
Reconfigurable vacuum-and-fork end effector for robotic depalletizing: SolidWorks, PCB and ATmega2560 firmware
Design and Isaac Lab simulation of two novel robotic end-effectors for automated UAV battery replacement: a dual-battery belt-driven gripper and a suction-assisted parallel gripper. A deep RL policy on a 6-DOF UR10 learns the grasp-and-align trajectory without analytic IK, cutting alignment error from 1.05 m to <7 cm.
Robotics Assignments done in Matlab during University. Pertains to simulations, safety regulations, & force analysis
🤖 NTUA ECE Robotics I Course Source Code
A Tool for Robotic Spraypainting
Makitronics Electromagnetic Interchangeable Coupler version 2 series
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