Robotics on Grayson Gilberthttp://graysongilbert.me/tags/robotics/Recent content in Robotics on Grayson GilbertHugoen-usFri, 01 May 2026 00:00:00 +0000Sim2Real Rotary Inverted Pendulumhttp://graysongilbert.me/projects/sim2real-pendulum/Fri, 01 May 2026 00:00:00 +0000http://graysongilbert.me/projects/sim2real-pendulum/Trained a PPO control policy in a custom MuJoCo Gymnasium environment and achieved zero-shot transfer onto an ESP32 microcontroller.Project Mars — Autonomous Underwater Vehiclehttp://graysongilbert.me/projects/project-mars/Fri, 01 Aug 2025 00:00:00 +0000http://graysongilbert.me/projects/project-mars/Contributed to an oceanographic survey mission deploying a microSAS sonar sensor on an AUV to capture sub-inch resolution acoustic images of the USS Monitor shipwreck.Monocular Perception & Object Trackinghttp://graysongilbert.me/projects/monocular-perception-and-tracking/Thu, 01 May 2025 00:00:00 +0000http://graysongilbert.me/projects/monocular-perception-and-tracking/Built a real-time monocular perception and object tracking pipeline using OpenCV — detects, classifies, and tracks targets across video frames using depth estimation heuristics.Barista Robothttp://graysongilbert.me/projects/barista-robot/Sat, 01 Mar 2025 00:00:00 +0000http://graysongilbert.me/projects/barista-robot/Designed and programmed an autonomous barista robot capable of navigating a café environment, picking up cups, and delivering drinks using ROS 2 and a robotic arm.EKF-LQR Inverted Pendulum Controlhttp://graysongilbert.me/projects/ekf-lqr-control/Wed, 01 Jan 2025 00:00:00 +0000http://graysongilbert.me/projects/ekf-lqr-control/Implemented an Extended Kalman Filter (EKF) for state estimation combined with an LQR controller to stabilize an inverted pendulum under sensor noise.ARRT Connect — Autonomous Robot Racing Teamhttp://graysongilbert.me/projects/arrt-connect/Sun, 01 Dec 2024 00:00:00 +0000http://graysongilbert.me/projects/arrt-connect/Contributed to an autonomous robot racing platform — developed perception and navigation modules in ROS 2 for competitive autonomous driving challenges.TurtleBot3 A* Path Planninghttp://graysongilbert.me/projects/turtlebot3-a-star/Tue, 01 Oct 2024 00:00:00 +0000http://graysongilbert.me/projects/turtlebot3-a-star/Implemented the A* search algorithm on a TurtleBot3 for autonomous navigation in a mapped environment, including obstacle avoidance and replanning.