Projects
Here are a few of my projects I have work on over the years. These projects are from work, classes, or personal hobby projects.
HEBI Robotics - Application Designer - Agile Inspection Robots - 2023
- Helped onboard customers with our inspection robots.
- Designed custom robotics solutions in Python & Matlab to support customers needs
- Maintain documentation and manuals for robotics solutions
- Led robotics demos for conferences (i.e. ICRA & ROS) and webinars
- Created YouTube video course tutorials and examples for actuator controls and robot kinematics
- Wrote and pitch, and led government contracts for the Air Force
Python/Computer Vision - Robot Aimbot - 2022
For a personal project of mine, I made a physical robot that moved a mouse around to shoot targets on the screen. The robot moved using knowledge of where the targets were on the screen and then doing PID control to send a velocity command to the motors.
Software Tools
- Computer Vision - (OpenCV)
- Object Detection (PyTorch - Yolov)
- Controls - PID
- Odometry - Model Omnidirectional Robot
ROS/GAZEBO - Passive Walking Simulation - 2019
For my graduate research study I deployed a working simulation of a simple passive dynamic walking. Modeling rigid bodies and real world friction parameters.
Ballbot - Balancing Robot - 2019
Spring 2019 capstone project for 16-264 Humanoids Class at Carnegie Mellon University.
The projects was greatly inspired by Ballbot a humanoid size robot made in CMU’s Microdynamic Systems Laboratory. Instead of balancing on a ball with a 200mm (7.87 inches) diameter we built our robot to balance on a smaller ball with a 95mm (3.75 inches) diameter.
Robot Control
- Modeled as two decoupled planar systems
- PID (innerloop for ball velocity)
- LQR (outerloop)
- Full State Feedback Control (outer loop)
Balancing
Mechanical Design
- Primarily Assembled with Laser Cutting & 3D Printing
- 4 Brushed DC Motors with Encoders
- 3.75 inch dimater ball
Assembly