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I am a first year PhD student at UC Berkeley in the AUTOLAB working on surgical robotics, grasping, and deformable object manipulation. Previously I finished my bachelor's at CMU where I worked with Howie Choset on multi-agent path planning, and spent time at Berkshire Grey and NASA's JPL. |
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(Under construction) I'm broadly interested in robotics: perception, motion planning, and deep learning, and currently am focusing on deformable object manipulation and surgical automation. |
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Miniature self-balancing robot, built from scratch using off-the-shelf parts and able to follow waypoints using model-predictive control for balance and pure pursuit for path following. |
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Indoor mapping robot built from scratch with a cheap planar lidar which autonomously mapped my house using a Google Cartographer-inspired SLAM algorithm, alongside a grid path planner for exploration and DWA controller for path following. |
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Source code taken from Jon Barron's site. |