~/projects
Things I have built, from wearable legged robots and quadrotor planners to learning pipelines for haptics and AI for a strategy game. Cards marked → have a case study, and ↗ links to code or an external page. Team projects are labelled as such.
Student Developer (part-time) at X-Frontiers ↗
Part-time (~16 h/week) developer at a student-run tech company, helping to bring an AI-driven rescue drone from prototype to field deployment.
research2026
Predicting finger–touchscreen friction under electrostatic actuation from small, highly user-dependent data. The work compares six model families, tests cross-participant generalisation, and identifies a real-time-feasible feature set.
engineering · BEng thesis2021
A pair of robotic legs that walks with its wearer and carries the load. I built the IMU-based gait perception and the phase-synchronised gait control. They were tested in Simulink and then on a 15 kg prototype during 10-minute walking trials.
engineering · Team project2022
A linear model predictive controller on linearised quadrotor dynamics, with a DARE-based terminal cost to guarantee stability and recursive feasibility. Validated in 3D simulation across different horizons and constraint sets.
engineering · Team project2022
A ROS planner built from scratch: occupancy mapping, k-PRM with a KD-tree, A* search, and minimum-snap and corridor-based trajectory optimisation (solved with OSQP). Benchmarked against RRT variants in forest and maze environments.
engineering · Solo2026
A solo entry in a national challenge run by Team Epoch and TNO: an ensemble classifier for bird species from radar tracks, plus a system design that turns calibrated predictions into targeted wind-turbine curtailment.
side project2026
In the base game, AI rulers build almost nothing but castles. This mod rewrites their holding-building logic so that castles, cities and temples are chosen by terrain, culture, government type and ruler personality. It's a small, focused behaviour change, and players adopted it widely: #14 in the Workshop's most-popular list for the past year and #10 for the past six months (Sep 2026), five months after its April release.
research · Research project2020
An elastically suspended back frame that reduces the load on the carrier. I designed and prototyped the electrostatic damping mechanism and ran the motion-capture experiments, which led to an IEEE ICARM 2021 paper and a Chinese patent.
engineering · Internship2019
A research internship at the University of Notre Dame (USA): Webots simulation of tractor performance on soft soils using terramechanics models, supporting AgJunction's wheel-navigation products.
Looking for the research side? The electrovibration work, thesis and literature review are covered in detail on the research page.
