@dony_morph

AI enthusiast with https://xitter.cf/t.co/VXnJH7fvJ4. Currently doing Master of Mechanical Engineering (MME). Research direction Autonomous Driving systems and Robotics

 China
github.com/donymorph
Joined March 2023
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  • Followers498
84Media
15 years building multi-sensor fusion taught me one thing: fusion is a crutch. 🔹 More sensors ≠ more information 🔹 LiDAR’s and radar's physics: rain, blooming, range-Doppler grid, and target separability 🔹 Why only vision sees meaning 🔹 Why fusion is a crutch See video 👇
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Today, I got my @UnitreeRobotics 4D Lidar L2. unpacked and first test
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ROS2 Rviz visualized, lidar and imu data
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Testing different scan-matcher algorithms on a dynamic scene like moving people around the lidar in real time by using 2d lidar. some are doing good, some are bad.
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Did a little bit of research and personal notes on #3DGS #gaussian_splatting
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Nice experiment with ComfyUI. sim to real rendering. by the way its not @NVIDIACOSMOSSPL, still AI-generated!
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the physics of my racecar with arm mounted on top is almost ready on Isaac sim simulator
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gripper mechanism
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testing moveit2 with my robot, reachable points. visualized with rviz2 and foxglove
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turbopilot: ghost riding for the masses
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full pipeline with ROS, the real mess, its not easy to comprehend it. ^ ̳ට ̫ ට ̳^
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my notes about the racecar, which I've been working on for a while. if anyone wants the early version, let me know. it's not quite ready yet.
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The research is going on, and it's killing me. going through books, papers, deep conversation with llm models. understanding math behind any algorithms(methods). reimplementing, creating the same wheel, testing, benchmarking. The experience is all I need.
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if you deal with real hardware, Understanding communication protocol and data packet structure is crucial and always refer to datasheet when you write driver code. I made this cheatsheet for the next generation. I would appriciate for any feedback whether they understand it.
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How do you design a BLDC motor driver for high-power robotics? Here's a thread 🧵 detailing my 5-year journey from basic Arduino knowledge to creating a fully functional BLDC driver for my quadruped robot! #JLCONE
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I wanted to create a technical drawing using Blender. not the best experience I've ever had!!!
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Replying to @yacineMTB
welcome to control theory. here is some guidelines.
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update!!! mounted the arm on top of the vehicle. the cable management 😅
Dony@dony_morph19 Jun 2025
done with robot arm stm32 firmware code. the hardest part was finding stm32->smart servo pocket structure. Unlike pwm values as signal, this type of servos uses UART protocol.
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What's inside? Let's disassemble the Feetech STS3215. It's the most popular servomotor for open source robotics.
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