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Sitemap
A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
About me
About me
Posts
Trick-or-Treat with Baloo
Published:
A fun demo of OpenAI’s whisper model to trick-or-treat with some robots. 
PneuDrive at Robosoft 2024
Published:
As part of my PhD work, I designed an embedded pressure control system called PneuDrive for use on a large scale soft robotic torso. 
Visiting Researcher with BioRobotics Institute in Pisa, Italy
Published:
I was hosted by Dr. Egidio Falotico in the Brain-Inspired Robotics Lab. 
PhD Research Proposal - Whole Body Manipulation with Tactile Sensing using Soft Robots
Published:
Overview of my recent defense of my PhD research proposal.
Thoughts on Skunk Works by Ben Rich
Published:
I just finished reading Skunk Works by Ben Rich. I enjoyed the book and learned quite a lot about the development of stealth technology during the Cold War.
projects
Stereo Vision Baseball Catcher
A gantry robot uses stereo vision to catch a baseball pitch. 
Cancer Detector
For this project, I trained a CNN based on the UNET architecture on a database of labelled cancerous cell images. The goal was to predict cancer with >85% accuracy.
Character Level RNN
Trained an RNN on State of the Union Adresses to predict sentences given a few letters.
Flight Dynamics and Controls
Modeling, simulation, control, estimation, and path planning for a fixed wing UAV. The final result of the project is a simulator built from scratch with implementations of IMU, pressure, and GPS sensors, Extended Kalman Filter and RRT path planning. 
Robo Grader
This project uses SIFT feature matching and some computer vision techniques to automatically grade scantrons. 
MuJoCo Simulation of Continuum Robots
A novel way to simulate soft continuum robots in MuJoCo. 
PneuDrive: Embedded Pressure Control
An embedded pressure control system I designed for low-level control of pneumatic robots.
Real-Time Image Replacement via Homography
SIFT Feature extraction and detection for real-time image replacement. 
Autonomous RC Car
Our team used a combination of computer vision, controls, and reinforcement learning to autonomously navigate a mini city. Our car is capable of recognizing and responding to signs, stopping at rail road crossings, and staying on the road.
Simultaneous Localization and Mapping (SLAM)
Various implementations of localization and mapping algorithms. 
Large Area Tactile Sensing
A sensor I developed to give robots a sense of touch over their entire structure. 
Baloo: Soft Robotic Torso
Baloo is a prototype robot I designed and built to work on whole-body manipulation research. 