A colleague (Spencer Folk) and I collaborated on simulating a LiDAR system for a Crazyflie drone to support their research. We hope this project can be used to teach students the basics of LiDAR Odometry, Sensor Fusion and State-Estimation on quadrotors. We are working with Penn to incorporate EmuLiDAR into the MEAM620 curriculum.

Designed the PCB, and entire embedded C code stack for an Omni-Wheeled Robot. Board shown above was designed around an STM32 mcu. Wrote the toolchain and Hardware Abstraction Layer from scratch alongside the controller. A Raspberry Pi or RC controller can be used for sending velocity commands to the robot.

Assisting with the development of a novel robot communication framework, I implemented a frontier-based exploration ROS Node to act as a proof of concept for a coordination task.

Took the kr_mav_control stack from GRASP Lab and integrated it onto ModalAI's Starling 2 platform. Since this platform is an out-of-the-box autonomy solution, this ended up being a larger hacking effort than anything! 

In this project, I attempted to gain an understanding on cell decomposition and how one can implement it in code. On top of this, I decided to run an A* Algorithm on top of this graph representation. This gave me a great insight on the challenges that can arrive within a QuadTree. If there was any optimization I would make to the decomposition, it would be to define it in a data structure akin to Z-Order Curves.

In this project, I wrote a ROS library to simulate and visualize the kinematics of a Quadruped Robot. More specifically, I was interested in deriving the forward and Jacobian Kinematics. I began this project by converting a Solidworks Model into a URDF file. From here, I wrote out and confirmed the kinematics within MATLAB and, finally, implemented them in ROS Kinetic with Python. On top of this, I wrote a parabolic trajectory generator and allowed for /joy messages to be sent through an Xbox 360 Controller. 

For the problem of Task Allocation, we presented our work "Online Multi-Robot Coordination and Cooperation with Task Precedence Relationships", a T-RO journal Paper that combined the work of a colleague completing his PhD,  Walker Gosrich. In this work, I designed a ROS-based system architecture to asynchronously traverse the task-graph topologies that can be seen in the image above. Alongside this, I wrote all the task-level logic for specifically the Exploration task node! Paper is still in the review process, this page will be updated upon publication.

Designed the mechanical assembly of a robotic prosthetic arm. It incorporated 5 servo motors and fishing line as tendons to move each finger. We used an MLP to train a model to take measurements from a Myo band sensor and perform desired actions on the arm.