Medusa Space Arms
Space-arm robotics work using a carriage-mounted arm testbed for coordinated motion, sensing, and manipulation research.
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1 min read
EigenBot
Modular robot work involving force sensing, limb experiments, and preliminary neural controller results.
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1 min read
Boeing Material Deposition
In-progress process-control research for ultra-large-format additive manufacturing that adapts deposition timing to uncompensated vibrations.
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1 min read
ARPA-E Pipe Inspection
Confined-space pipe inspection robotics work with crawler hardware, mapping, and misalignment visualization.
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1 min read
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.
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1 min read
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.
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1 min read
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.
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1 min read
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.
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1 min read