Hello, and welcome! I'm an optimal control researcher driven by a love of math and a desire to use it to make things move better. Here, you'll find a collection of some of my previous projects, an overview of my skills, and more information on how to get in touch.
Selected Projects
Controls Research
Control Through Planner-Conditioned Estimator Error
Belief-space planning for VTOL ship-deck landing
Social Robotics Research
Robotic Forests
Plant-inspired robot design metaphors for ambient HRI
Senior Design Project
Acetabular Cup Extractor
Mechanical Engineering Senior Design Project
Skills
Control Systems
- PID Control
- Full-State Feedback
- Kalman Filtering
- SLAM
- MPC
- Optimization
Software
- C++
- Python
- ROS
- MATLAB / Simulink
- Java
Hardware & Sensors
- Raspberry Pi
- ARM / AVR MCU
- Circuit Design
- IMU & Encoders
- Vision Sensors
- FMCW Radar
Mechanical
- SolidWorks
- PTC Creo
- FDM / SLA Printing
- Laser Cutting
- Mechanism Design
HRI
- Research through Design
- User Studies
- Ambient Robotics
- Prototyping
Working on a hard problem that could use my skills? Let's get in touch!