CATALOG / 03 PROJECTS / 2026

PROJECTS.

The things I'm building, in detail — with the messy bits, the changelogs, and what broke this week.

P.01robot-dog● Active R&D2025 — ongoing

Autonomous Robot Dog.

Four-legged robot. Sensor fusion, ROS2, dynamic locomotion.

Building an autonomous quadruped that combines embedded hardware, ROS2 modules, and real-time control. Mathematical modeling, physics simulation, sensor fusion and path planning come together for dynamic locomotion and obstacle avoidance.

STACK
ROS2PythonEmbeddedControl TheorySensor FusionPath PlanningPhysics Sim
LINKS
— closed source / in progress
CHANGELOG5 ENTRIES
2026 · 01 · 05planScoped the project — quadruped, ROS2, sensor fusion, dynamic locomotion.→2026 · 02 · 10buildFirst quadruped prototype frame assembled. 12 ST3215 servos wired and addressable.→2026 · 03 · 14choreMigrated to ROS2 Humble. All custom nodes rewritten in Python.→2026 · 04 · 22featSensor fusion v2: IMU + ToF, Kalman filter tuned for stair climbing.→2026 · 05 · 08featBasic IK solver for leg-trajectory planning — knees finally bend the right way.→
P.02homelab● Production-ish2023 — ongoing

Personal Homelab.

Proxmox + Kubernetes playground on HPE ProLiant gear.

An infrastructure playground hosted on Proxmox running Kubernetes VMs — hands-on with containerization, networking, HA, monitoring and storage at home-rack scale. Continuously broken on purpose.

STACK
ProxmoxKubernetesDockerLinuxNetworkingHAHPE ProLiant
LINKS
— closed source / in progress
CHANGELOG5 ENTRIES
2025 · 09 · 04obsPrometheus + Grafana + Loki stack live. I can now panic with charts.→2025 · 12 · 12net10G networking upgrade — Mikrotik CRS at the heart of the rack.→2026 · 02 · 02infraDeployed a Talos Linux k8s cluster on top of the Proxmox VMs.→2026 · 03 · 18infraAdded a second HPE ProLiant DL380 — HA pair, Ceph storage between them.→2026 · 04 · 30infraMigrated from VMware ESXi to a Proxmox cluster. Zero downtime on user-visible services.→
P.03st3215● Maintained · Open source2024

ST3215 Servo Library.

Production-ready Python lib for ST3215 servo motors.

Built because no stable, working ST3215 library existed. Reliable, well-tested interfaces for servo control and feedback — used in robotics projects in the wild.

STACK
PythonOpen SourceEmbeddedServo Control
LINKS
GitHub ↗PyPI ↗
CHANGELOG3 ENTRIES
2024 · 08 · 30releaseInitial public release. First reliable ST3215 driver in the wild.→2024 · 10 · 05releasev1.0 on PyPI. Documentation site live.→2024 · 11 · 20featv1.2 — async/await support added. Concurrent multi-servo commands now non-blocking.→