a.Armaandeep Singh2nd Year · Robotics
Waterloo
2nd Year Mechatronics Engineering / University of WaterlooPortfolio · 2026

Linux. Robotics. Autonomy.

Armaandeep
Singh.

Building practical systems at the intersection of design, code, and motion.

2nd Year Mechatronics Engineering student at the University of Waterloo focused on Linux systems, robotics, autonomous systems, controls and automation. Full Stack Linux & ROS 2 Developer @Studica Robotics. Prev @Eclipse Automation.

Explore my work
GitHub LinkedIn Instagram
01 / Kinematic study
SPECIALIZATION

Linux Systems • Robotics • Autonomy • Embedded Controls

ROBOTICS STACK

Linux • ROS 2 • C++ • Python • MoveIt 2 • Isaac Sim • Gazebo • SLAM • OpenCV • CAN Bus

Selected work
01 / Featured projectStill improving

NORA/

Natural Language Orchestrated Robotics Agent

From a sentence
to a sequence of actions.

NORA is a modern robotics framework enabling direct natural-language control of robotic arms without writing low-level joint motions or trajectory code. Given a free-form instruction like 'Pour me some Water in the glass', it interprets intent, validates physical and spatial feasibility, selects the optimal skill sequence, and commands a ROS 2 arm.

LINUXROS 2 HUMBLEPYTHON 3.10+MOVEIT 2SAYCAN-INSPIRED
Explore NORA Source on GitHub
System architectureSayCan-inspired
Natural-language instruction
“Pour me some water
in the glass.”
LanguageIntentSkill selectionROS 2Motion

Language as the Interface

A modular NLU node converts conversational commands into validated intent schemas (action, object, location), with swappable backends from rule parsers to fine-tuned LLMs.

{
  action: "pour",
  object: "water_pitcher",
  target: "glass_01"
}
01 / 05
ARM MODEL
6-DOF + Gripper URDF
SIMULATION
Gazebo & Isaac Sim
COMMUNICATION
ROS 2 Actions & Services
STATUS
Actively in Development

Try it here

Explore NORA, live.

Open in new tab

Try the interactive project without leaving this page.

02 / Selected work

Built to work in the real world.

From autonomous navigation to mechanical design. A closer look at the systems, decisions, and details.

02 / WATonomous

Autonomous Navigation Robot

FoxGlove Studio Telemetry & Visualizer (Simulated in Gazebo)

Navigation-focused autonomous robotic platform utilizing ROS 2, 2D/3D LiDAR, and SLAM for real-time localization, obstacle avoidance, and simulation-based validation.

LINUXROS 2LiDARSLAMMATLABGAZEBOFOXGLOVE

Engineering notes & specifications

PIPELINE
ROS 2 Navigation2 Stack
SENSING
LiDAR PointCloud + SLAM Mapping
SIMULATION
Gazebo Physics & FoxGlove Telemetry
STATE ESTIMATION
Extended Kalman Filter (EKF) Fusion
  • Engineered autonomous navigation algorithms combining 2D LiDAR scans and wheel odometry via the ROS 2 Navigation2 stack.
  • Calibrated point cloud filters and costmap layers to reliably detect negative obstacles and low-profile path hazards.
  • Implemented FoxGlove Studio telemetry streaming for low-latency visual debugging of trajectory execution and transform trees (TF2).
GitHub

03 / WATonomous

Humanoid Ankle Actuator

Cross-sectional mechanical CAD view illustrating compact planetary integration.

Comprehensive torque sizing, dynamic analysis, and drivetrain motor selection for a high-payload humanoid ankle joint with a strict 1.5× safety factor envelope.

CADDYNAMICSMOTOR SIZINGSOLIDWORKSMATLAB

Engineering notes & specifications

MOTOR
BLDC 48V · 200W High Torque Density
GEARBOX
9:1 Precision Planetary Reducer
SAFETY FACTOR
1.5× Dynamic Load Reserve
DOF
2-DOF Pitch & Roll Articulation
Torque sizing results · 1.5× safety factor
Load ScenarioPeak TorqueTorque Margin
Single-Leg Stance39.2 Nm3.2× ✓
Walking @ 1.0 m/s11.1 Nm11.0× ✓
Design Limit (1.5× SF)58.8 Nm2.1× ✓
  • Derived ground reaction forces and dynamic ground-impact moments across full human walking gait cycles in MATLAB.
  • Selected frameless BLDC rotor/stator sets mated to low-backlash 9:1 planetary stages to maximize instantaneous torque-to-weight ratio.
  • Validated structural integrity of aluminum 7075-T6 clevises and bearing carrier mounts under maximum shock loading.

04 / Personal Engineering Project

Robotic Arm Design

Isometric CAD view showing joint actuation layout and harness management.

Custom multi-DOF articulated robotic arm designed in SolidWorks covering structural assembly, kinematic reach envelope, and production manufacturing drawings.

SOLIDWORKSFEAKINEMATICSGD&TRAPID PROTOTYPING

Engineering notes & specifications

ARCHITECTURE
Multi-DOF Articulated Arm
CAD SYSTEM
SolidWorks 2024 Parametric
PAYLOAD
1.2 kg at Full Reach
MANUFACTURING
CNC Machining & 3D Printed PETG
  • Modeled all link stages parametrically to allow rapid adjustment of link lengths and gear ratios based on torque simulations.
  • Conducted finite element stress analysis on high-stress shoulder brackets to prevent deflection under cantilevered moments.
  • Produced full ASME Y14.5 compliant technical drawings with explicit geometric tolerancing for precision machining.

05 / Competitive Robotics

Humanoid Robot

Physical 9-DOF humanoid robot on the test bench undergoing balance calibration.

9-DOF bipedal humanoid robotics system developed with custom C++ firmware on Arduino, real-time kinematics solver, and closed-loop IMU stabilization.

9-DOFC++ARDUINOKINEMATICSIMU STABILIZATION

Engineering notes & specifications

DEGREES OF FREEDOM
9 Active Servo Axes
COMPUTE
Arduino Microcontroller Architecture
SENSING
6-Axis MPU6050 IMU Feedback
POWER
7.4V 2S LiPo with High-Current BEC
  • Formulated analytical inverse kinematics for 3-DOF legs, synchronizing foot placement with zero-moment-point (ZMP) trajectories.
  • Wrote custom PID stabilization loop reading accelerometer and gyroscope registers to counteract unexpected torso tilting.
  • Achieved 82% completion rate in competitive agility and manipulation trials while boosting walking stability by 28%.
82%
TASK COMPLETION
+28%
GAIT STABILITY

06 / University of Waterloo · MTE100

Autonomous Color Sorter

Physical automated color sorting cell with gripper mechanism & sensor arm (MTE100).

Mechatronics engineering capstone team project that automatically detects, inspects, classifies, and sorts parts by chromatic signature with gripper and pneumatic actuation.

MTE100EMBEDDEDOPTICAL SENSINGPNEUMATICSCONTROL LOGIC

Engineering notes & specifications

PROJECT
UW Mechatronics Engineering MTE100
SENSING
RGB Chromatic Optical Sensor Array
SORTING MECHANISM
Gripper Arm + Solenoid Ejector
THROUGHPUT
45 Items / Minute
  • Architected color classification thresholds under variable ambient lighting conditions using calibrated RGB ambient light sensor.
  • Integrated dual-axis mechanical indexing mechanism driven by stepper motors with micro-stepping for jam-free sorting.
  • Authored the complete 40+ page engineering report covering design calculations, circuit schematics, and economic analysis.
GitHubReport (PDF)Presentation (PPT)

07 / Box Bots Hackathon

Gesture Controlled Quadruped

Vision-guided quadruped robotic platform translating real-time OpenCV hand-landmark tracking and gesture recognition into responsive Arduino locomotion routines.

OPENCVPYTHONARDUINOPWM CALIBRATIONGESTURE RECOGNITION

Engineering notes & specifications

VISION SYSTEM
MediaPipe & OpenCV Landmark Pipeline
COMMUNICATION
Low-Latency UART Serial Protocol
LOCOMOTION
8-Servo Crawl & Trot Gait Patterns
LATENCY
<45ms Gesture-to-Actuation Loop
  • Trained real-time gesture classification pipeline running at 30 FPS to distinguish forward, turn, crouch, and greeting hand poses.
  • Tuned individual servo PWM duty cycles and inverse trigonometric foot paths to yield fluid quadruped trot movements.
  • Minimized end-to-end latency by streamlining frame downsampling and optimizing byte-packed serial packets.
GitHub

Media viewer

03 / Mechanical design

From CAD to a closer look.

Original assemblies, designed in SolidWorks. Rotate, zoom, and inspect the details.

Robotic arm

Interactive assembly

SolidWorks robotic arm assembly exported as GLB (Created by me)

Parametrically designed multi-DOF articulated arm assembly modeled in SolidWorks, verifying kinematic clearance, joint torque limits, and mounting interfaces.

GLB / 3D BinaryDownload model

Robotic palm

Interactive assembly

Hand model exported as GLB (Created by me)

Bio-inspired robotic end-effector and anthropomorphic hand mechanism for dexterous manipulation, tactile sensing attachment, and multi-finger actuation.

GLB / 3D BinaryDownload model

04 / Experience

Engineering in practice.

Linux systems, robotics, industrial automation, and the software that connects them.

September – December 2026Mississauga, ONCurrent role

Studica Robotics

Full Stack Linux and ROS 2 Developer

LINUXROS 2ARCHITECTUREDEVICE DRIVERSTELEMETRY

Contributions

robotic architecture

Architect and deploy robust ROS 2 microservice stacks, designing clean modular node topologies, lifecycle nodes, and hardware abstraction layers (HAL) for educational and industrial autonomous robotics kits.

linux runtime systems

Develop and maintain embedded Linux target environments, configuring low-latency shared-memory IPC, kernel device drivers, CAN interfaces, and deterministic real-time execution parameters.

controls & pipelines

Engineer closed-loop motor control interfaces, real-time sensor telemetry streaming, and automated perception pipelines integrated with physical production hardware.

January – April 2026Cambridge, ON

Eclipse Automation

Standard Product Support Co-op

SOLIDWORKSAUTOMATION CELLSHMIKETOPGD&T

Contributions

large-scale cad optimization

Optimized 3,000+ component SolidWorks master assemblies, cutting rebuild failure rates by 40–50% and dramatically decreasing workstation load and rendering times.

cell layout re-engineering

Redesigned high-throughput automation cells to yield a 30% reduction in physical factory floor space while improving ergonomic maintenance accessibility.

interface & hardware integration

Integrated electrical disconnect subassemblies and industrial mobile HMI interfaces (e.g. KeTop teach pendants) into standardized automation product lines.

system documentation

Authored comprehensive design guidelines and standard operating documentation adopted across multidisciplinary mechanical and electrical engineering divisions.

May – August 2026University of Waterloo, ON

WATonomous (Humanoid)

Robotics Engineer

ROS 2SENSOR FUSIONLIDARGAIT DYNAMICSACTUATORS

Contributions

autonomous sensor fusion

Constructed ROS 2 sensor pipelines synchronizing high-frequency LiDAR point clouds with wheel and joint encoder odometry for drift-free state estimation.

actuator & gait optimization

Conducted detailed dynamic loading analysis on lower-limb bipedal kinematic chains, optimizing foot-placement trajectories for enhanced bipedal equilibrium.

ankle mechanism integration

Engineered the mechanical torque sizing and gear ratio parameters for compact 2-DOF ankle joints with high impact absorption.

2025Remote / Hybrid

Fraiche Lane Pvt Ltd

Web Application Developer Intern

REACTFIREBASEAUTOMATIONADMIN DASHBOARD

Contributions

sales order management

Engineered a centralized real-time Sales Order Management web portal that reduced order fulfillment and processing time by 80%.

realtime cloud backend

Configured Firebase authentication, Firestore synchronization, and automated transactional email dispatching for order dispatch tracking.

2025New Delhi, India

Stonehenge Designs India

Engineering Intern

EMBEDDEDIRRIGATION AUTOMATIONSYSTEMS OPTIMIZATION

Contributions

automated irrigation system

Designed and deployed an automated soil-moisture-sensing irrigation controller that reduced manual watering labor by over 70%.

database & workflow revision

Standardized procurement vendor databases and streamlined online client consultation workflows.

05 / Technical toolkit

Across the full system.

Linux at the foundation. The tools I use to connect systems software, mechanical design, perception, and control.

linux, robotics & controls

End-to-end robotics architecture from low-level joint trajectory planning to full autonomous navigation, SLAM pipelines, and closed-loop actuator control.

  • Linux
  • ROS 2 (C++/Python)
  • SLAM
  • Localization & Mapping
  • LiDAR & Encoders
  • PID & PWM
  • Forward/Inverse Kinematics
  • Joint Trajectory Planning
  • Multi-DOF Analysis
  • Actuator Integration
  • Sensor Fusion
  • CAN Bus
  • HAL Integration

embedded linux & dev

Deterministic firmware execution, low-latency microcontrollers, industrial logic controllers, and hardware-in-the-loop validation.

  • Embedded Linux
  • Device Drivers
  • C++
  • Python
  • PyTorch
  • Arduino
  • Microcontroller Firmware
  • Serial Communication
  • HIL Testing
  • JavaScript
  • Git
  • FPGA (VHDL/Verilog)
  • PLC (Ladder & Structured Text)

simulation & cad

High-fidelity digital twins, physics simulation, multi-body kinematics verification, and production-grade parametric CAD assemblies.

  • SolidWorks
  • MATLAB
  • Physics Simulation
  • NVIDIA Omniverse
  • Isaac Sim
  • Gazebo
  • MoveIt 2
  • URDF / Xacro Modeling
  • Digital Twins
  • Mechanical Assembly Validation

vision & networking

Real-time visual perception, feature extraction, low-latency telemetry transport, and distributed inter-process communications across heterogeneous devices.

  • Linux Networking
  • OpenCV
  • Image Processing
  • Feature Detection
  • WebSockets
  • Low-Latency Telemetry
  • Camera Pipeline Calibration
  • Real-Time Visual Perception

06 / Education

Always building. Always learning.

2025 – 2030

University of Waterloo

2nd Year · BASc Mechatronics Engineering

2nd Year Mechatronics Engineering Student + Full Stack Linux & ROS 2 Developer @Studica

2nd year coursework

  • FPGA (VHDL / Verilog)
  • PLC (Ladder / ST)
  • Embedded C/C++
  • Kinematics & Dynamics
  • Circuits & Actuation
  • Digital Logic
  • DSA

UWATERLOO / 2nd Year / TRON