Research
Projects I've worked on at Georgia Tech, Caltech, and the NASA Jet Propulsion Lab
Deployable Anchoring Payload
Extreme Environment Robotics Group, NASA Jet Propulsion Laboratory
PI: Dr. Arash Kalantari, Dr. Joel Burdick
Responsible for design of an anchoring instrument payload system to be deployed from a UAV, including mechanism design, electromechanical integration, hardware demonstration on analogue surface in the lab
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Handheld deployment test sequence
Poster presentation at the 18th International Planetary Probe Workshop:
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Poster for the International Planetary Probe Workshop
Variable Diameter Wheel Mechanism
Dynamic Adaptive Robotic Technologies Lab, Georgia Tech
PI: Dr. Anirban Mazumdar
Led design of a high deployment ratio rimless wheel for adaptive wheeled mobility using bistable tape springs.
Presented poster with preliminary work at Georgia Tech Undergraduate Research Symposium.
Presented poster with preliminary work at Georgia Tech Undergraduate Research Symposium.
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Deployment test on prototype vehicle
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Undergraduate Research Symposium Poster
Inverted Pendulum
Advanced Mechanical Bipedal Robotics Lab, Caltech Summer Undergraduate Research Fellowship
PI: Dr. Aaron Ames
Independent design, build, control, and demonstration of a robotic inverted pendulum on a cart testbed using a new linear brushless DC motor.
After designing the testbed and CNC machining the custom parts, I modeled the system in MATLAB, designed an LQR controller to stabilize it, and demonstrated it stabilizing on hardware.
Final stabilization demo:
Final stabilization demo:
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Pendulum hardware I designed and machined