Robot Collision Prevention Package: CBF-QP
Real-time safety filter with Control Barrier Functions.
Python
Lower-Limb Pediatric Exoskeleton: Shirley Ryan AbilityLab
Assistive pediatric exoskeleton research for gait rehabilitation in collaboration with Shirley Ryan AbilityLab.
Jigsaw Puzzle Solving Robot
Autonomous robot that detects, picks, and places jigsaw puzzle pieces using computer vision and manipulation.
PenPal: VLM-Guided Writing Robot
7-DOF Franka answers questions by writing on hand-held whiteboards
Reactive Control & Obstacle Avoidance
Real-time kinematic control with Artificial Potential Fields
Jack in a Cup: Hybrid Dynamics Simulation
Simulation of rigid body collisions and Lagrangian dynamics