00 Work
For more information please visit this site on a computer or checkout
my
resume
Hardware Engineering Intern
DoorDash Labs
2022 + 2023
San Francisco, CA
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
Pittsburgh, PA
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
Pittsburgh, PA
Worked on the development of a three digit
dextrous
hand. My work focused on redesigns, documentation and tribology testing on soft
capacitive
sensors.
VR Development Intern
Biomotivate
2020
Pittsburgh, PA
I worked with a Pittsburgh based start up to
develop
Virtual Reality experiences for those in addition recovery. I also developed a data
acquisition
platform to explore the benefits that might arise from the different apps.
01 Projects
For more information please visit this site on a computer or checkout
my
resume
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.
For my mechatronics capstone, my group
developed
a
prototype autonomous venipuncture robot.
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.
My work on the D'Manus, an open-source
rehensile
robotic hand, during my time at Facebook AI research.
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.
A custom macropad I created as a precursor to
a
full-sized keyboard, and an exercise in electronics development.