Blogs

A practical exploration of forward kinematics in real robotic arms, and why singular regions often hide slow failures rather than obvious breakdowns.

Notes from iterating camera calibration routines with ArUco and checkerboards — where assumptions silently cause coordinate drift.

Thoughts on conditioning, regularization, and why some inverse kinematics implementations work in theory but fail in practice.

An experiment with MiDaS and pose pipelines, with observations on consistency and the limits of monocular depth in robotics.

A reflective write-up on robust control, model assumptions, and why ignoring small noise sources often leads to big surprises.