Proposed NERF-based perception system and interface with contact-implicit trajectory optimization for manipulation in novel, contact-rich environments.
AA277: Multi-Robot Systems
Investigated modifications to nonlinear pose graph optimization (ala SE-Sync) to increase robustness to adversarial agents via alternative noise models and graph pruning.
Convex Optimization I and II
Developed ADMM-based solver for L2 fuel-optimal spacecraft control.
AA 203: Optimal Control
For the final project I developed a floating-body dynamics model for a hopping robot and used discrete nonlinear optimization to find hopping trajectories that minimized the actuator efforts. While many controllers for legged robotics optimize using a fixed gait pattern, I instead allowed the solver to find the optimal timing and location for the foot steps by using nonlinear complementarity constraints.
Figure AA203.1 Optimal hopping trajectory for a single-legged robot.
Figure AA203.2 Dynamics model for single-legged robot.
CS238: Decision Making Under Uncertainty
For the final project of Decision Making Under Uncertainty, I worked with a partner to use reinforcement learning to teach a quadruped how to do backflips. We posed the dynamics and state estimation of Stanford Doggo, the quadruped my team developed from the ground-up, as a POMDP and we solved for the optimal control using Proximal Policy Optimization.
Figure CS238.1 Stanford Doggo
Figure CS238.2 Learned backflip
CEE 32H: Responsive Structures
I worked with a small group of students to ideate, prototype, and create what we call "Swell," an immersive sculpture constructed out of formable plywood panels.
ME 203: Design and Manufacturing
In ME203, I designed, prototyped, and fabricated a bike light that uses your phone's flash led as the light source.
Milling, Turning, Laser cutting, Bead blasting, Anodizing, Finishing, CAD