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Research Interests
I am particularly interested in tight integration between mechanism design and software control in robotic interactions between the machine and the environment. Applications that benefit from such an emphasis include haptics and locomotion. Benefits include mechanism efficiency, stability and robustness, and simpler control. Examples of this approach include series-elasticity and compliance, passive dynamics, and force/impedance control.
Current Projects/Research
Robotic Control Software Development
At Barrett Technology, I'm working to develop the next generation of the WAM Robotic Arm's software library. The library is written in C using real-time Linux (either RTAI or Xenomai), and implements the full control loop, including kinematics and dynamics calculations (joint-space and Cartesian-space). The code is completely open-source to customers.
Mass/Inertia Identification
Past Projects/Research
Note: Much of my project and research experience has been supported by Olin College, my undergraduate engineering institution. Olin's curriculum focuses on team-based projects, and its culture provides many opportunities for undergraduates to work with faculty on various research projects.
Autonomous Surface Platform
- Further information: Autonomous Surface Platform
During my Senior year, I participated in Olin College's Senior Consulting Project in Engineering (SCOPE). Our team consisted of Kristina Cary, Andrew Coats, Nicholas Hays, Peter Massari, and myself, and we were advised by Professor Brian Bingham. We were asked by Schlumberger, Ltd to design and build an autonomous surface platform to support underwater acoustic imaging. The team built a 6-foot, 300-lb platform, outfitted with two electric trolling motors, an array of localization sensors, and a package of acoustic imaging equipment.
The boat includes a two independent GPS sensors, an inertial navigation unit, and a compass/tilt sensor. Computation is performed by an onboard x86 Linux computer, which interfaces with the the sensors and the motor controllers. I developed a data integration and logging software layer, termed the surface, which consisted of custom drivers for each peripheral, and a common data interface to higher-level control software. Using this layer, the team was able to collect and log data during field tests, and built a simulator which allowed us to develop control code in the lab.
Our acoustic package consisted of an underwater speaker and array of piezo-electric hydrophones. I volunteered to find a multi-channel data collection solution for our sensors, but no off-the-shelf solutions existed that fit our specifications (8-channel audible-range simultaneous sampling) and our budget. I developed my own watertight USB device for this purpose (playfully named the Magic Box which integrated into our existing data collection architecture. A rendering of a PCB prototype is shown at left.
I enjoyed serving as Project Manager for part of the project, communicating weekly with our sponsors through conference calls, preparing for bi-weekly design reviews with external reviewers, and coordinating tasks within our team. Schlumberger is currently looking to continue our work with the help of a graduate research lab at the Norwegian University of Science and Technology.
Force-Controlled Actuator
- Further information: SERA Actuator
I worked on a team of five fellow students to design a new force-controlled actuator for the high-end hobby market. We developed a full project plan, along with a set of specifications for a target humanoid biped, along with the mechanical, electrical, and software components of the actuator itself. Over several months, we designed and built multiple prototype actuators and explored several novel concepts. The project concluded with a design using strain flexures as a force-feedback mechanism.
Snake Project
- Further information: Snake Project
u In conjunction with Olin's Biomimetic Robotics Lab & the Principles of Engineering course, I worked with 4 of my classmates to design, construct, and control a series of robotic snakes. Over two semesters, we developed several mecahnical revisions, and produced both a two-dimensional "Snake on a Plane" and a subsequent revision capable of three-dimensional movement. Between the two final versions, our snakes exhibit the serpintine, rectilinear, and sidewinder gaits. Check out the project overview for more.
M2 Bipedal Research
While at Olin's Biomimetic Robotics Lab, worked with fellow student Jon Tse to develop a new firewire software interface for the M2 bipedal robot, designed and built at Professor Gill Pratt's Leg Lab at MIT. See the project's old homepage for details about the original project.