3D LiDAR + IMU SLAM Navigation
Tightly coupled factor-graph SLAM combining 64-beam LiDAR point clouds with 400 Hz IMU pre-integration for sub-centimeter indoor localization.
ros2 launch ckw_amr lio_sam.launch.py \
voxel_size:=0.05 imu_rate:=400
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Industrial Robotics · LiDAR Perception · Embedded Linux
Autonomous Robotics Engineering & Real-Time Compute
Open technical blueprints, 3D LiDAR SLAM sensor fusion pipelines, quantized TensorRT vision benchmarks, and deterministic Linux kernel tuning for robotic manipulators and autonomous mobile platforms.
CHASSIS: AMR-CKW-04 (OMNI-DRIVE)
LIDAR: 360° LOCK
3D Point Cloud Density65,536 pts/scan · 20 Hz
Edge AI Compute ModuleJetson AGX Orin (275 TOPS)
CAN-FD Actuator Bus5.0 Mbps · Zero Frame Drop
Autonomous Robotics & Perception Stack
Modular ROS 2 Humble nodes for spatial mapping, neural depth estimation, and deterministic actuator control.
TensorRT Stereo Depth & Vision
Hardware-accelerated INT8/FP16 object detection and semantic occupancy grids running with zero-copy NITROS buffers on embedded GPUs.
trtexec --onnx=yolov8m_seg.onnx \
--fp16 --saveEngine=vision.engineDeterministic Linux PREEMPT_RT
CPU core isolation (`isolcpus=2,3`), IRQ pinning, and lockless ring buffers for hard real-time robotic joint trajectory controllers.
sudo cyclictest --smp -p 95 \
-i 200 -d 0 -D 10mRobotic Reference Platforms & Actuators
Standardized hardware schematics for quasi-direct-drive (QDD) quadruped actuators and industrial cobot arms.
ACTUATOR // QDD-CKW-90
Planetary Brushless Servo Module
Integrated 18-bit magnetic off-axis encoder, FOC field-oriented controller, and 9:1 planetary reduction for legged locomotion.
CONTROLLER // ETHERCAT MASTER
Dual-NIC Isolated Motion Controller
Zero-jitter IgH EtherCAT master stack with Distributed Clocks (DC) synchronization across 12 robotic joints.
Interactive 6-DOF Robotic Arm Kinematics & Torque Simulator
Adjust payload mass, reach length, and angular acceleration to compute joint torque and visualize manipulator posture.
Static Gravity Torque:
44.15 N·m
Dynamic Inertial Torque:
26.33 N·m
Peak Shoulder Joint Torque (SF 1.25):
88.09 N·m
Recommended Harmonic Drive:
SHG-25-100 (100:1)
6-DOF MANIPULATOR KINEMATICS
REACH: 0.90m