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.
Projects
RL agent playing SuperTuxKart
RL agent playing SuperTuxKart
Furuta Pendulum
Energy Shaping & LQR for Furuta Pendulum
Multi-Mobile Manipulation
Research into multi-mobile manipulation control for dual lift tasks.
Optical Flow Research
Research into optical flow during my time with Dr. John Baillieul at BU.
Monopod Leg
Test leg I designed for experiments
Toyota Human Service Robot (HSR)
Personal robot from Toyota
Cobots and Industrial Robotic Arms
Maintaining and programming robotic arms at MassRobotics
Dynamic Robotics Laboratory Assistant Researcher
Dynamic Locomotion Robotics Research
Wheeled Biped
Roller Wheels Bipedal Robot
Servo Quadruped
Designed my own little servo quadruped robot
LQR
cartpole LQR
MPC
Summer research on MPC for future bipedal Cassie controllers
Robotic Foot Damping Research
Work on paper and journal for research on impact dynamics of robotic feet
SLIP
Spring Loaded Inverted Pendulum
Gripper T-42-R
Modified T42 Gripper from Yale for MassRobotics use
Turtlebot3
Custom turtlebot3 robot
Botball Robotics
Robotics Team
Fetch Robot
Custom Robot for SLAM, object recognition, and object manipulation