ARPA-E Pipe Inspection
Confined-space pipe inspection robotics work with crawler hardware, mapping, and misalignment visualization.
Selected Projects
Robotics, planning, automation, lab research, and course projects with source links, media, and technical summaries.
Boeing Material Deposition
In-progress process-control research for ultra-large-format additive manufacturing that adapts deposition timing to uncompensated vibrations.
EigenBot
Modular robot work involving force sensing, limb experiments, and preliminary neural controller results.
Medusa Space Arms
Space-arm robotics work using a carriage-mounted arm testbed for coordinated motion, sensing, and manipulation research.
A* Pursuit of Dynamic Target
A C++ robotics planner that uses weighted A* in a time-expanded grid to intercept a moving target while replanning from the robot's current state.
Manipulation Course Assignments
Python manipulation coursework in MEngines covering rigid-body transforms, forward kinematics, screw coordinates, contact mechanics, RRT-Connect planning, antipodal grasp search, …
MPPI Wheeled Quadruped
Whole-body MPPI controller for the Unitree Go2W wheeled quadruped, extending legged locomotion control with wheel-torque actions, wheel-aware costs, and MuJoCo simulation tasks.
Queue up for Claude
A local, usage-aware job queue for Claude Code that stages coding tasks, injects per-project agent context, and runs queued work near the end of a Claude.ai usage window.
Sampling Based Planners
C++ sampling-based motion planners for a high-DOF planar robot arm, comparing RRT, RRT-Connect, RRT*, and PRM on collision-free joint-space planning tasks.
Symbolic Planner
A C++ STRIPS-style symbolic planner for grounding action schemas and searching over Blocks World, Blocks Triangle, and robot-fire-extinguisher planning domains.