A fuzzy Strength Index adapts knee-exoskeleton torque during sit-to-stand in real time on a Raspberry Pi running ROS2. In a five-person engineering study, measured muscle effort fell by 30% at slow speed.
Personal experiment: natural-language instructions become ROS2 actions for a simulated arm in Gazebo, using the Gemini API. Early stage.
Working on LLM-powered task planning, exploring VLA models, and building a sim benchmark.
This blog is a place for concise technical notes from my work in AI and robotics. The topics I plan to write about include ROS2 software architecture, reinforcement learning for control, Isaac Gym and Gazebo simulation workflows, multimodal robot data pipelines, and the practical details of connecting LLMs and VLMs to robotic systems. My goal is to keep the writing useful: implementation notes, design decisions, experiments, lessons from hardware integration, and research summaries that can help another engineer reproduce or improve the work.
A short log entry covering ROS2 simulation updates and system observations.