3D LIPM-based Stepping Hardware Testing

3D LIPM-based Stepping Hardware Testing

The 3D Linear Inverted Pendulum Model based stepping controller is tested on hardware.

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2D Approximation of the step-to-step map

2D Approximation of the step-to-step map

A data-driven model-based approach to walking control of Digit in 2D using MuJoCo.

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Using a Linear Inverted Pendulum Model to Design a Stepping Controller for Digit

Dynamic Walking 2022 Presentation

Using a Linear Inverted Pendulum Model to Design a Stepping Controller for Digit

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LIPM applied to Digit walking control

Linear inverted pendulum modeling applied to Digit walking control

A walking controller using the concepts of orbital mechanics and the inverted pendulum dynamics.

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Passive Swinging-Arms Exo

Passive Swinging-Arms Exoskeleton for Angular Momentum Reduction

A device that couples leg swing to artificial-arm swinging to reduce vertical angular momentum.

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Digit Cyclic Stability Mujoco Sim

Digit Cyclic Stability in Mujoco Simulation

Cyclic gait achieved using control partitioning in Mujoco

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American Heart Association

In the news: American Heart Association Predoctoral Fellowship

A two year fellowship to support my research in human-inspired control for rehabilitation and robotics

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Digit 2D Model

2D Walking Model and Control of Digit

A 2D model of the humanoid Digit was developed and controls were tested using MATLAB

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Optimal Control

Control of a 5-Link Biped Using Quadratic Polynomial

To walk over constrained environments, bipedal robots must meet concise control objectives of speed and foot placement.

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Bioinspired robotic exoskeleton for endotracheal intubation

Bioinspired robotic exoskeleton for endotracheal intubation

A novel method to intubate under ubstructed airway conditions.

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NSF iCORPS

In the news: NSF Innovation CORPS

Recognized as the Entrepreneurial Lead of the iCORPS program at the Innovation Awards

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Variable Stiffness Treadmill

Variable Stiffness Treadmill

Design and experimental setup of a treadmill capable of changing the ground stiffness in an online manner

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Myoelectric Prosthetic Hand

Low Cost Myoelectric Prosthetic Hand

Design and development of a low-cost 3D printed prosthetic hand for wrist disarticulation with up to 10 programable gestures.

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EMG Pattern Recognition

Hierarchical Clustering and KNN in EMG Pattern Recognition

Machine learning techniquies used to predict user gesture intent using the Myo Armband

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