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Seyi R. Afolayan
Mid-level Robotics & Controls Engineer specializing in safe autonomy and perception-aware motion planning
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About
Robotics software engineer who built an open-source, real-time Cartesian controller for Universal Robots UR5/UR5e, targeting sub-mm accuracy at 500 Hz within ROS2/ros2_control. Demonstrates strong real-time debugging skills (timing profiling, singularity handling with Tikhonov regularization) and sim-to-real iteration using Gazebo/Isaac Sim plus physical hardware tuning; also has ROS1 experience building URDF/xacro and EKF configs for an underwater vehicle and has developed drone/robot packages.
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Key Strengths
- Built an open-source real-time Cartesian controller for UR5/UR5e
- Achieved sub-millimeter accuracy at 500 Hz control update rate
- Debugged real-time jitter/missed-deadline issues via control-loop timing profiling
- Stabilized IK near singularities using Tikhonov regularization
- Hands-on sim-to-real debugging and empirical gain tuning on physical hardware
- Experience spanning ROS1 and ROS2 stacks (URDF/xacro, EKF, ros2_control)
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Experience
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1 publication
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