Hardware Engineering Intern

DoorDash Labs

2022 + 2023

I worked with DoorDash Labs to develop software and hardware for a 4 quadrant dynamometer, essentially a treadmill for cars. I spent the second summer developing an interface and software to expand the functionality and enable new kinds of testing with the device

Undergraduate Research Assistant

CMU Robomechanics Lab

2022 - 2023

I worked with a couple of masters students and Dr. Aaron Johnson on exploring the costs and conrols of a spined quadruped robot. I focused on evaluation scenarios and the generating cost functions for the hardware.

Robotics Research Intern

Meta AI Research

2021

Worked on the development of a three digit dextrous hand. My work focused on redesigns, documentation and tribology testing on soft capacitive sensors.

Toss Juggling In-Sim (and on Hardware)

Fall 2023

For my mechanics of manipulation course, I developed a simulation of a toss juggling robot in MuJoCo. I used reinforcement learning to learn a policy for the robot to juggle balls using DDPG. I also applied the co-design method to design a hardware system to embody the policy.

Trajectory Optimization for Constrained Dynamical Systems

Fall 2023

For my mathematical methods in robotics course, I developed a model predictive controller for a spined quadruped robot. I also applied a similar framework to a ballbot driving a wheelchair.

Phlebot

Spring 2023

For my mechatronics capstone, my group developed a prototype autonomous venipuncture robot.

Mapping and Payload Robot (MAPR)

Spring 2023

For my robotics engineering capstone, my group worked on developing an indoor delivery robot using off the shelf parts and ROS 1. I focused on the locomotion subsystem and electro-mechanical integration.

D'Manus Hand

Summer 2021

My work on the D'Manus, an open-source rehensile robotic hand, during my time at Facebook AI research.

Jenga Bot

Winter 2021

The final project for my robot kinematics and dynamics course was designing a controller for a robot to build a Jenga tower, with bonus points for speed and a need for precision.