Most client work is confidential, so this is a selection of my personal and open-source projects instead. They are a fair sample of how I work: hardware and software designed together, documented, and built to last.
Robbie is an ongoing open-source robot, split into separate repositories for the agent, the control system, the mechanical design and the motion model.
Open-source agentic robot
A low-cost desktop robot with a moving head and two round LCD eyes, designed to engage with people in group settings such as shops, events and meetings. Current work modernises its LLM-driven personality and agent framework, and rewrites its kinematics and controller.
ROS 2 control and simulation
Robbie's control system as a ROS 2 stack. It deploys to a Raspberry Pi 4 or runs against a MuJoCo simulation on the desktop, with Rerun visualisation and a design-space study of the neck mechanism.
Parametric mechanical design
Robbie's body, moved from Fusion 360 to OpenSCAD so the design stays open and maintainable. The neck is a 3-DOF Stewart platform driven by three motorised sleds circling a collar, giving roll, pitch and full 360° yaw from only three motors.
Natural gaze motion library
Generates natural-looking "look at" motion for anything that can look around: people, robots or animals. A cascade of eye, head, torso and heading transforms is configured from one JSON file, accepts feedback, and suits both animation rigs and PID control loops.
Electronics, embedded firmware and parametric CAD for parts that get built and used.
Reverse-engineered disc-imaging robot
A "parts only" Nistec ALW-501 disc-publishing robot, rebuilt as a bulk CD-imaging machine. After reverse engineering the motor driver board, I replaced the dead mainboard with an Arduino Mega controller and drove it from a PC with a Python harness.
OpenSCAD screw-hole library
Better self-tapping screw holes for 3D prints. Common brand-name screws don't quite match the UTS standard, so the library adds a second size model fitted to measured screws, plus more complex hole geometry.
KiCad breakout board
A TPIC6B595 power shift-register breakout board for driving higher-current loads from a microcontroller, designed in KiCad, with accompanying Arduino libraries.
Arduino testing and graphing
A collection of Arduino helpers, including on-device unit testing and GNUPlot-based graphing of live sensor data streamed over serial.
Tools, datasets, and recovering how undocumented legacy software works.
Reverse engineering a 1993 DOS game
An engine remake of SSI's Stronghold (1993) in Rust for Windows, Linux and macOS, built by reverse engineering the original executable. It also explores how real-time strategy games might have evolved from Stronghold's early design ideas.
English dictionary dataset
An English dictionary derived from Wiktionary and published as newline-delimited JSON: one record per word sense, 1.24 million records across 27 files, ready for NLP, games and tooling.
