Electroadhesive Multiplexer [Arduino, SolidWorks, Rapid Protyping]

• Designing a compact magnetic-encoder–based angular sensing module for real-time joint motion tracking, supporting clutch state estimation and tendon position measurement
• Building a coordinated clutch-switching and motor-drive control software for the EA multiplexer for both velocity and force control
• Conducting experiments to measure braking force and response time of the clutches under the EA multiplexer, as previous experiments are only done on testbeds.

Control of Soft Robotic Hand [Arduino, Additve Manufacturing]

• Designed and manufactured soft tendon-actuated fingers through additive manufacturing in collaboration with Carnegie Mellon University
• implemented a PID-based control system enabling precise tendon motion using an electroadhesive clutch for variable stiffness and braking.

UR5 Trajectory Manipulation [Python]

• Developed a simulation for a UR5 robot arm , implementing trajectory generation via screw theory and kinematic modeling
• Constructed a PID feedback control system with pseudoinverse Jacobian for end-effector tracking while consideirng joint limit constraints and singularity handling for stable pick-and-place operations

Ergodic Control for Sensor-Based Exploration [Python]

• Implemented ergodic control for a 2D single-integrator agent to optimize exploration based on spatial information density
• Developed a simulation environment and visualizations to demonstrate convergence of metrics over time
• Compared ergodic behavior to random and greedy policies to evaluate performance under sparse information distributions

Lagrangian Dynamics Simulation of Jack in a Box [Python]

• Simulated a Jack in a Box using a 2D multibody system governed by Euler-Lagrange dynamics
• Modeled motion as a double pendulum swing with constraints and as projectile motion with plastic impact
• Used SE(2) transformation matrices to track orientation and position of rigid bodies
• Modeled plastic collisions and enforced contact constraints for realistic landing conditions