Current Interests

My current interests are focused on using simple solutions to solve problems. After years of working on some of the more complex robotic systems I can't help but see that there are simpler solutions to many of the issues they were trying to address.

Model Free Balance

Using holding torque to update reference position to lead to a low bandwidth, model free balance controller.

Simple Tool Carrier

Invented a novel tool holding system that uses an adjustable near constant force spring to take the weight of tools ranging from drills to jackhammers and even light tools like sanders. This system came about after years of having customers ask for exoskeleton systems to help carry tools. Turns out, it's hard to beat a stick.

Tube fabrication tools for complex shapes.

Working on a methodology to take an arbitrary spline and create a laser cut tube that can be shipped straight, bent by hand, and welded to create complex geometries out of thin-walled tubing. Traditional methods of taking small segments of tubing or rolled sheet metal take a lot of tedious work. This solution "keys" the parts together to make recreating a desired shape simple and fast..............it does require a laser cutter though. Working on ways to get rid of that requirement.

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