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I received my B.S. and Ph.D. in Mechanical Engineering from Texas A&M university. My research focus is the design and control of robotic systems. I have experience in mechanical design, control system design, rapid prototyping, optimization, and trajectory generation, especially as they pertain to soft surgical robots and legged robots.
I received my B.S. and Ph.D. in Mechanical Engineering from Texas A&M university. My research focus is the design and control of robotic systems. I have experience in mechanical design, control system design, rapid prototyping, optimization, and trajectory generation, especially as they pertain to soft surgical robots and legged robots.
Ph.D. in Mechanical Engineering
Ph.D. in Mechanical Engineering
Texas A&M University, College Station, 2016-2023
Chair: Reza Langari, Ph.D.
Topic: Design and Redundant Control of Limited-Use Tendon-Driven Continuum Manipulators with a Passive Proximal Section
Contributions:
separable robot which manipulates existing ICE (Intracardiac Echocardiography) catheter
separable tendon-driven robotic manipulator
redundant control scheme for tendon driven manipulators
analysis of effect of proximal section shape in tendon-driven manipulators
Projects
Projects
Dynamic Simulation of 5 DOF Bipedal Robot
Dynamic Simulation of 5 DOF Bipedal Robot
Trajectory generation and forward simulation were performed in Julia.
Design and Implementation of Inverted Pendulum Robot
Design and Implementation of Inverted Pendulum Robot
A BeagleBone Black and a robust controller in C++ were used to stabilize this robot.
Design and Implementation of 3 DOF Teleoperated Robot
Design and Implementation of 3 DOF Teleoperated Robot
Motion of the robot arm was linked to that of the user via IMU and EMG.
Other Projects and Ideas
Other Projects and Ideas
Optimal Trajectory Parameterization
Optimal Trajectory Parameterization
Optimal walking trajectories were parameterized along step length and saved for on-line interpolation.
Hull of Allowable Perturbation
Hull of Allowable Perturbation
Minimum impulse to cause falling in a 2D biped was recorded to provide a metric for stability.
Human-inspired Control
Human-inspired Control
Feedback linearization with additional PD in feedforward was used to emulate human walking control.
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