Projects

Multi-robot QP controllers for human-humanoid interaction

At Inria Nancy (France), working on application of multi-robot QP controllers for modeling the dynamics of a humanoid's interactions with its environment (manipulated objects, humans, etc.).

Multiple DOF Pneumatic Actuator

At Bioinspired Robotics and Design Lab at UCSD, under Professor Mike Tolley and Dylan Drotman. Presented at ICRA 2015 in Seattle.
Bending demo, Color tracking

Stretchable tactile sensing skin for soft robots

Silicone-based skin with conductive liquid sensors. Used as tactile sensors and as sensing mechanism for pneumatic actuators.

Event-Based Multi-View Stereo

Implementation of 3D reconstruction algorithm for event-based cameras.

Multi-robot discrete RRT on Cozmos

Drivers and planning algorithms for centralized multi-robot planning on Anki Cozmos.

Planning Evasive Maneuvers Through Tire Slip

CMU MRSD program capstone project. Trajectory optimization for an autonomous vehicle, with detailed dynamics model that can account for tire slip/drifting.

3D Printed Disposable Endoscope

Senior design project, working with UCSD Health and Dr Frank Talke. Our work formed the foundations for this.