Industry

Staff Software Engineer

Foundation Future Industries

Software and controls efforts for humanoid robot Phantom

bring-up and controls for humanoid robot, Phantom.
created, maintained, and utilized tooling for control and visualization.
maintained forks of many IHMC repos for humanoid control.
created a repository for fast-dds Python messages capable of interfacing with IHMC ROS2 message stack in Java.
wrote and ran simulations in Java and plotting scripts in Python to inform design decisions (actuator sizing and layout, mass and inertia, payload) for future humanoid design.
assisted others with integrating their work into the Java stack (reinforcement learning in IsaacSim, object segmentation and pose estimation, teleoperator user interface).
conducted demonstrations with Phantom for events and visiting investors (locomotion and balance for the lower body, manipulation and teleoperation for the upper body).

Boardwalk Robotics

Software and controls efforts for humanoid robots including Alex at Boardwalk and Nadia at IHMC

worked on addition of software tooling, bring-up, control, and demos for humanoid upper body, Alex.
provided consulting and simulation results for other humanoid and robotics companies to inform their designs and control systems.
wrote proposals and acquired government funding via SBIR.
worked on controls for balance, walking, and other human-like behaviors for Nadia at IHMC

Siemens Healthineers

Designed, built, and controlled two robotic ICE catheters

designed a robotic prototype to control an existing ICE catheter which improved on previous designs. 3D printed parts, fabricated the device, and validated the design.
designed a separable, tendon-driven, continuum robot consisting of a reusable body and disposable catheter tail. 3D printed parts, fabricated the device, validated the design, and developed a redundant control scheme.

Page updated

Google Sites

Report abuse