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Academic Experience
September 2016 – May 2017Academic Experience
Research Assistant
Human Rehabilitation Lab (Texas A&M University)
January 2018 – May 2018
Graduate Assistant Lecturer
Mentored several teams of students through the process of designing their own experiments
September 2017 – December 2020
Teaching Assistant
Mechanical Measurements, Materials and Manufacturing Selection in Design, Control System Design, Statics and Particle Dynamics, Heat Transfer Lab
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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