Developed a multi-robot waiter system for restaurant automation in 2D, restaurant layout was based on a real restaurant. A system of autonomous waiters performed order delivery and clean-up tasks in the restaurant. These tasks were allocated to the waiter robots while optimizing cost of allocation (e.g., total distance to be travelled). The navigation was accomplished with a global and local planner that utilized A* search while avoiding collisions with other waiters, patrons and obstacles in the environment.

Developed centralized and distributed Model Predictive Control (MPC) algorithms for a 2D adversarial control problem with planar quadrotors. The control problem is a team-based 2D simulation where a team of robots are attempting to intercept a target, and an individual robot acting as the target whose goal is to evade the team of robots for as long as possible.

The Uplift™ is an adaptive exercise machine developed for wheelchair bound individuals, such as quadriplegics. The machine can be used to improve their upper-body strength and mobility. An individual can perform a narrow or wide chest press, rowing, or shoulder press.

Modified an existing decoupled hand-cycle to yield improved tracking of desired crank cycle cadence (crank velocity). Performed two protocols using a combination of FES and volition on three able-bodied participants.

Developed full-state feedback controllers for two Furuta Pendulum systems. One system was mounted on a stationary setup and another system was mounted on a remote-controlled mobile robot to simulate a waiter carrying a tray with drinks.

Designed and prototyped a remote-controlled mobile robot for an in-class competition. The competition required collecting racquetballs and foam footballs from one half of the arena to deposit into goals and onto the opponent's half of the arena.