Quasi-static Planning Through Contact Contact-rich planning experiments for quasi-static pushing with contact smoothing analysis. Amazon Robotics - Olin Senior Capstone Senior capstone project in partnership with Amazon Robotics. Crazyflie Perching Magnetic perching system for Crazyflie nano drones. Multi-Drone View Planning - CMU AirLab Collaborative multi-drone perception. TWIST Biorobotics Co-founded student-run soft robotics lab exploring pneumatic McKibben muscles and Koopman optimal control. User-Oriented Collaborative Design for Small Farms Team project to identify, research, and co-design solutions for challenges faced by small farm workers. Forged Carbon Composites Materials research on forged carbon fiber composite manufacturing processes. Biomimetic Design - Eliminating Empty Space in Packaging Applying natural design principles to reduce empty space in packaging solutions. K-12 Educational Design - Learning Surface Area with Hovercrafts Designing hands-on hovercraft activities to teach surface area concepts to K-12 students. F1 Tenth Autonomous Racing Autonomous 1/10th scale race car with wall following, obstacle avoidance, and path planning. Sisyphus Sand Table Kinetic sand art table using a ball-bearing guided by magnets to draw patterns. Markov Decision Processes An introduction to how robots make decisions using Markov Decision Processes. Particle Filter Localization Robot localization using particle filter algorithms in ROS. Robot Vacuum Localization/Navigation in MATLAB Simulated robot vacuum with localization and autonomous navigation in MATLAB. JPEG Compressor in C Implementation of the JPEG compression algorithm from scratch in C. Double Pendulum Simulation and physical double pendulum with reinforcement learning control in Python. Playing Perfection with Robots Robotic arm system that autonomously plays the Perfection board game using computer vision. Insight App Platform for meaningful one-on-one discussions between individuals with differing perspectives. IEL Nexus API Backend Backend API for Integrity Express Logistics' customer-facing application. FIRST Tech Challenge SkyStone Founded and captained Juniper Robotics team 16449 for the 2019-2020 FTC season. FIRST Robotics Education Research Paper Two IEEE papers on project-based learning through FIRST robotics, presented at CACS 2020. FIRST Tech Challenge Rover Ruckus Captained a 14-member team building a robot with double flywheel launching mechanism. OpenCV Ball Following Robot Mobile robot that tracks and follows a colored ball using OpenCV computer vision. India Robotics Outreach Robot Robotics outreach and education project in India. Swerve Designs Custom swerve drive module designs for competitive robotics. FIRST Tech Challenge Relic Recovery Captained a 10-member team, achieved 6 Glyph Autonomous at World Championships. FIRST Tech Challenge Velocity Vortex Competitive robotics for the 2016-2017 FTC Velocity Vortex challenge season. Humanoid Robot Multi-year humanoid robot design and development project. FIRST Tech Challenge Res-Q Competitive robotics for the 2015-2016 FTC Res-Q challenge season. Mini Robot Challenge Compact robot design for a mini robot building challenge.
