Projects
A selection of things I have built and worked on.
Nullspace self-motion manifolds
A step-by-step interactive build-up of the self-motion manifolds of a redundant 3R planar arm.
Dual-arm robotics real-world setup
A modular perception-to-execution pipeline for a heterogeneous xArm7/xArm6 dual-arm grasping setup.
Inverse kinematics for underactuated 5-DOF manipulator
A Jacobian-based IK solver with damped least squares for a 5-DOF underactuated manipulator, handling infeasible targets via task-space projection.
LG-DimABSA
A structured pipeline for aspect-opinion extraction and valence-arousal sentiment regression, combining rule-based parsing with transformer models.
4-bit CLA adder
A synchronous 4-bit carry lookahead adder implemented across NGSPICE, MAGIC, and Verilog/FPGA, with pre- and post-layout simulation.
8-bit microprocessor simulator
A simulator and assembler for a simple 8-bit microprocessor, with a custom instruction set, stack, and configurable clock.
RISC-V processor implementation
A single-cycle and 5-stage pipelined RISC-V processor in Verilog, with data forwarding, load-use hazard stalling, and static branch prediction, plus a web-based pipeline visualization.