Programmed a dexterous finger to play whackamole at superhuman speeds.

Skills: ROS 2, C++, Drake, Microcontrollers, Motor Control

Programmed Franka FER in ROS2 to manipulate and stack dominoes.

Skills: ROS 2, MoveIt, Computer Vision

Implemented complete SLAM algorithm on differnetial drive hardware using ROS 2.

Skills: ROS 2, C++, Extended Kalman Filter, LiDAR Processing, SLAM, Sensor Fusion

Designed prosthetic arm to return arm swing to people with upper arm limb loss.

Skills: Mechatronics, BLDC Control, Human-Robot Interaction

Programmed and deployed UKF algorithm on simulated robot data to estimate state over time.

Skills: Python, UKF, Sensor Fusion, State Estimation

Programmed and tested two planning algorithms in a grid world.

Skills: Path Planning, Differential Drive Control, Heuristic Optimization

Implemented task-space PI control and joint-space planning for a mobile manipulator.

Skills: Motion Planning, Robot Kinematics, Task-Space Control

Built a wireless webcam that streams JPEG images to a browser.

Skills: Electronic Circuit Design, PCB Design, Embdeded Programing

Built a differential-drive robot that uses image processing to follow a random path.

Skills: Robot Design, PID Control, Image Processing

Simulated jack in the box in 2D using analytical methods and simulation

Skills: Lagrangian Mechanics, Simulation, Numerical Integration,

Designed a motorized continuously variable transmission with real-time actuation feedback.

Skills: Machine Design, Machining, CAD (Solidworks)

Programmed Q-learning algorithm to teach a hexapod to self-level on inclined terrain.

Skills: Reinforcement Learning, Sensor Fusion, Hexapod Robotics