Motion planning and search
Weighted A*, time-expanded pursuit, RRT, RRT-Connect, RRT*, PRM, Dijkstra-style graph search, and STRIPS-style task planning.
Evidence: Implemented in C++ planning projects and manipulation coursework.
Evidence-based skill map
Robotics, software, and hardware skills organized by subsystem and linked back to supporting project, experience, publication, or resume references.
Planning, control, manipulation, sensing, locomotion, and embedded/process systems.
Python and C/C++ are supported by portfolio projects; hardware and analysis languages come from resume references.
Simulation, optimization, robotics middleware, embedded, electronics, and software tooling.
Physical robot testbeds, embedded controllers, sensors, FPGA platforms, and power evaluation hardware.
Subsystem areas where the portfolio shows project work, research responsibilities, or course implementations.
Weighted A*, time-expanded pursuit, RRT, RRT-Connect, RRT*, PRM, Dijkstra-style graph search, and STRIPS-style task planning.
Evidence: Implemented in C++ planning projects and manipulation coursework.
Model Predictive Path Integral control, sampling-based MPC, whole-body locomotion costs, process-control timing, PID, and linear feedback coursework.
Evidence: Shown in MPPI quadruped work, Boeing material deposition research, EigenBot research, and resume coursework/projects.
Rigid-body transforms, forward kinematics, screw coordinates, contact screws, friction cones, force closure, antipodal grasp search, IK, and pick-and-place planning.
Evidence: Implemented through manipulation assignments and connected to Medusa space-arm work.
Force sensing, embedded sensing, pipe inspection mapping, misalignment visualization, point-cloud normals, sensor-driven inspection interfaces, and SLAM exposure.
Evidence: Supported by EigenBot, ARPA-E pipe inspection, manipulation assignments, author bio, and resume research history.
Wheeled-legged locomotion, gait scheduling, wheel-torque actions, modular limb experiments, force-sensing behavior, and neural-controller research context.
Evidence: Shown in Unitree Go2W simulation and EigenBot research pages.
Sensor interfaces, microcontroller platforms, embedded robot integration, hardware testbenches, and communications buses.
Evidence: Listed in the resume skills section and reflected in Biorobotics Lab project summaries.
Languages explicitly present in portfolio project stacks or the resume PDF.
Simulation, planning analysis, visualization, manipulation assignments, MPPI work, and local developer tooling.
Evidence: Appears across project technical stacks and resume software section.
Search/planning implementations, embedded robot work, and robotics coursework projects.
Evidence: C++ appears in A*, sampling-based planning, and symbolic planning pages; C/C++ appears in the resume.
Engineering analysis and controls coursework/tooling.
Evidence: Listed in author data and resume software section.
Technical computing exposure.
Evidence: Listed in the resume software section.
Digital hardware and FPGA design exposure.
Evidence: Listed in the resume software section and supported by Raytheon digital hardware experience.
Software, simulation, robotics, electronics, and workflow tools with direct support in site content or resume references.
Wheeled quadruped simulation tasks and controller evaluation.
Evidence: Named in the MPPI wheeled quadruped technical stack.
Panda manipulation simulation, collision checking, point-cloud capture, and grasp attempts.
Evidence: Named in the manipulation assignments technical stack.
Point-cloud normal estimation for grasp candidate scoring.
Evidence: Named in manipulation assignment details.
Scientific computing, planning visualization, simulation analysis, and manipulation assignments.
Evidence: Named in MPPI, sampling-based planning, and manipulation project stacks.
Robotics software environment and middleware exposure.
Evidence: Listed in the resume software section; ROS also appears in author skill data.
C++ project builds, version control, and project organization.
Evidence: CMake appears in C++ project stacks; Git is listed in the resume software section.
Local web dashboard and workflow automation tooling.
Evidence: Named in the Queue up for Claude project stack.
PCB design, analog/power electronics simulation, and embedded development.
Evidence: Listed in the resume skills and software sections.
Physical robots, simulation platforms, embedded controllers, buses, and electronics platforms named in project pages or the resume.
Wheeled quadruped model used for whole-body MPPI locomotion experiments.
Evidence: Named in the MPPI wheeled quadruped page.
IK, pick-and-place, grasp search, and force-closure coursework.
Evidence: Named in the manipulation assignments page.
Modular limbs, force sensing, and neural-controller experiments.
Evidence: Project page describes full-limb and force-sensing work.
Carriage-mounted arm coordination, sensing, and manipulation research.
Evidence: Project page describes space-arm testbed work.
Confined-space robot hardware, embedded sensing, and mapping interface work.
Evidence: Project page describes crawler hardware and pipe-scale mapping.
Embedded and digital systems platform exposure.
Evidence: Listed in the resume skills section.
Embedded communications buses used or taught in hardware contexts.
Evidence: I2C and SPI appear in the resume skills section; I2C, SPI, and UART appear in UCLA IEEE workshop responsibilities.
Switching regulators, multiphase buck converter evaluation modules, and power design/test.
Evidence: Supported by Texas Instruments experience and publication pages.