# Robots by Ayush Goyal

> Side projects in Physical AI: robot arms, a SCARA, voice-controlled ArduPilot vehicles, IoT sensor rigs and a patented pneumatic gripper — from firmware to browser.

**Status:** Taking freelance forward-deployed engagements
**Location:** India — remote worldwide
**Book a free 30-min scope call:** https://cal.com/ayuugoyal
**Email:** ayushgoyal8178@gmail.com
**Website:** https://www.ayuugoyal.tech
**GitHub:** https://github.com/ayuugoyal
**LinkedIn:** https://www.linkedin.com/in/ayuugoyal/
**X:** https://x.com/ayuugoyal
**Lab:** https://www.rndynamolabs.com/ (RnDynamos Labs — Physical AI)

## Robots

- **Sensor Dash — IoT Factory Server** — Raspberry Pi sensor server for live factory visibility. FastAPI with WebSocket streaming, Arduino for analog sensors, DHT / BH1750 / MCP3008 over I2C and SPI, and a Next.js dashboard on top. _Stack: Python, FastAPI, Raspberry Pi, Arduino, WebSockets, SQLite, Next.js._
- **BCN3D Moveo Control System** (https://github.com/ayuugoyal/bcn-3d-control-system) — Full control system for the BCN3D Moveo 6-DOF robot arm — Next.js web UI, ROS2 integration, Arduino firmware. Real-time WebSocket comms, joint + cartesian control, 3D visualisation and health monitoring. _Stack: ROS2 Humble, ROSBridge, Python, C++, Arduino, Next.js, WebSockets._
- **SCARA Robot** (https://github.com/ayuugoyal/scara) — Control system for a 4-axis SCARA robot — Express.js API, Next.js frontend, Arduino Mega firmware. Precise motion control you can run remotely from a browser tab. _Stack: Arduino Mega, NEMA 17 Steppers, Next.js, TypeScript, Express.js._
- **ArduPilot Assistant** (https://github.com/ayuugoyal/ArduPilot-Assistant) — Natural-language and voice control of ArduPilot vehicles. An LLM orchestration layer turns spoken commands into MAVLink through a vehicle connection layer — voice agents pointed at actual hardware. _Stack: Next.js, MAVLink, ArduPilot, OpenAI, Gemini, Voice._
- **Pneumatic Four-Finger Gripper** (https://www.ayuugoyal.tech/patents/6450987) — A 3D-printed, pneumatically actuated four-finger adaptive gripper that grabs objects of almost any shape. Registered as UK Design 6450987. _Stack: Pneumatics, 3D Printing, End-Effector Design, Industrial Robotics._

## Stack

ROS2 Humble, ROSBridge, MAVLink / ArduPilot, Arduino & Embedded C++, Raspberry Pi, Stepper & Motion Control, URDF & Simulation, Computer Vision, Sensor Fusion & IoT, 3D Printing (FDM / Resin)

## FAQ

### What robots has Ayush Goyal built?

A full control system for the BCN3D Moveo 6-DOF robot arm (ROS2, Arduino, Next.js), a 4-axis SCARA robot controlled from the browser, ArduPilot Assistant for natural-language and voice control of ArduPilot vehicles over MAVLink, a Raspberry Pi IoT factory sensor server, and a 3D-printed pneumatic four-finger gripper registered as UK Design 6450987.

### Is robotics your job or a side project?

Side projects. Ayush's day job is AI engineering and the freelance work is forward-deployed AI engineering; robots are what Ayush builds after hours, often through RnDynamos Labs. That hardware work is available on client projects too.

### What robotics stack do you use?

ROS2 Humble and ROSBridge, Arduino and embedded C++, Raspberry Pi, stepper motion control, MAVLink and ArduPilot, WebSockets for live control, Next.js for web control panels and 3D visualisation, and FDM and resin 3D printing for parts.

### Can AI and LLMs control real robots?

Yes, with a safety layer in between. ArduPilot Assistant turns spoken or typed commands into MAVLink through an LLM orchestration layer, and the same pattern applies to robot arms: the model proposes, a deterministic controller validates and executes.