Lower-Limb Pediatric Exoskeleton: Shirley Ryan AbilityLab
Assistive pediatric exoskeleton research for gait rehabilitation in collaboration with Shirley Ryan AbilityLab.
Python
Robot Collision Prevention Package: CBF-QP
Real-time safety filter with Control Barrier Functions.
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