Spot Mini Mini
Quadruped Locomotion, Bezier Gait, Reinforcement Learning
Developed Pybullet Spot Environment and deployed 12-point Bezier-curve gait as baseline for RL task. Validated on real robot designed and built for under $600.
The below projects are my own and not affiliated with Boston Dynamics.
Quadruped Locomotion, Bezier Gait, Reinforcement Learning
Developed Pybullet Spot Environment and deployed 12-point Bezier-curve gait as baseline for RL task. Validated on real robot designed and built for under $600.
C++, ROS, Motion Planning, Trajectory Optimization
Co-delivered a motion planning course in C++/ROS which covered PRM, D* Lite, Potential Fields, and MPPI among other methods.
Reinforcement Learning, Pytorch, Pybullet, ROS, IK
Used TD3 Reinforcement Learning to teach an open-source bipedal robot to walk in Pybullet, and attempted a sim-to-real experiment and manual-trajectory walk.
C++, Transforms, ROS, Gazebo, SLAM
Modeled Turtlebot3 Kinematics using 2D Lie Groups and simulated interface with Gazebo Plugin. Performed EKF SLAM with Unknown Data Association using ground truth and LIDAR with feature detection.
ROS, MoveIt, OpenCV, AI
Programmed a Baxter robot to play a full game of checkers against a human opponent. This project placed 1st in the judged competition between 6 teams!
Path Planning, AI, Filters
My implementation of an RRT algorithm, an A* algorithm, and a Particle Filter.
Mechatronics, Optics, Computer Vision, Control, LabVIEW
Pointing and Tracking Device for Bidirectional Laser Communication (PATBLC MKI). Supports Dr. Aristides Kiprakis' SquidROV by granting it submerged wireless communication. Awarded 'Best BEng Thesis' for the class of 2019.
Nonlinear Control, Electromagnetics, Optics
Final year group project at The University of Edinburgh, where we sought to levitate a steel ball using an electromagnet.