Design and development of Surena-V humanoid robot, including trajectory planning, control algorithms, and establishing the project's GitHub organization.
Completed Dec. 2020 - Apr. 2024
Implementing Extended Kalman filters based on Lie algebra for estimating the kinematic base states of Surena-V humanoid robot by combining forward kinematics with inertial sensor data.
Completed Oct. 2020 - Sep. 2022
Implementing various SLAM algorithms on Surena-V humanoid robot and creating a map of the robot's environment using a depth camera for path planning.
Completed Oct. 2020 - Sep. 2022
Implementing human face mesh and head orientation detection algorithms using neural networks, developing drowsiness and distraction detection algorithms, and establishing communication with vehicles via OBDII port and sending data to a central server.
In Progress Mar. 2023 - Present
Implementing and optimizing real-time object detection and tracking algorithms using neural networks, developing distance estimation and pre-collision warning algorithm using a single camera, and simulating algorithms in the CARLA simulation environment.
Completed Oct. 2022 - Aug. 2023
Estimating forces using recurrent neural networks (GRU, LSTM) by simultaneously using pressure sensor and EMG data.
Completed Oct. 2019 - Sep. 2020
Redesigning hydraulic and mechanical subsystems of a sewer pipe robot, and repairing and testing the robot in a laboratory environment.
Completed Oct. 2018 - Oct. 2019
Controlling mobile robot movements using hand gestures and inertial sensor data, wirelessly transmitting robot's image and audio data to user's glasses in real-time.
Completed Feb. 2021 - Apr. 2022
Using ultrasonic sensors for wall distance detection, implementing an algorithm for navigating the robot out of the maze.
Completed Oct. 2018 - Dec. 2018