Projects

Some projects I'm currently working on or have worked on in the past:

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Extended Control Research

Leveraging reinforcement learning methods to extend the control of state-space controllers, such as LQR.
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ODRI Biped

Building my own open source ODRI biped to better understand bipedal robotics control from the low level hardware to the high level simulation and controls.
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RL agent playing SuperTuxKart

RL agent playing SuperTuxKart
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Furuta Pendulum

Energy Shaping & LQR for Furuta Pendulum
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Multi-Mobile Manipulation

Research into multi-mobile manipulation control for dual lift tasks.
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Optical Flow Research

Research into optical flow during my time with Dr. John Baillieul at BU.
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Monopod Leg

Test leg I designed for experiments
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Toyota Human Service Robot (HSR)

Personal robot from Toyota
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Digit Simulation

Digit Simulation Work
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Cobots and Industrial Robotic Arms

Maintaining and programming robotic arms at MassRobotics
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MassRobotics

Robotics Lab Manager Assistant & Robotics Technician
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Dynamic Robotics Laboratory Assistant Researcher

Dynamic Locomotion Robotics Research
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Wheeled Biped

Roller Wheels Bipedal Robot
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Servo Quadruped

Designed my own little servo quadruped robot
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LQR

cartpole LQR
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MPC

Summer research on MPC for future bipedal Cassie controllers
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Robotic Foot Damping Research

Work on paper and journal for research on impact dynamics of robotic feet
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SLIP

Spring Loaded Inverted Pendulum
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Booz Allen Hamilton

Systems Operations Intern at Consultant and Military Contractor Booz Allen Hamilton (Air Force Division)
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Gripper T-42-R

Modified T42 Gripper from Yale for MassRobotics use
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Turtlebot3

Custom turtlebot3 robot
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Botball Robotics

Robotics Team
Video
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Fetch Robot

Custom Robot for SLAM, object recognition, and object manipulation
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Aptima | Human Centered Engineering

Computer Vision and Robotics Internship at Military Contractor, Aptima