Projects and Research

Centroidal Momentum Trajectory Optimization for Highly Dynamic Maneuvers

Actuator Dynamics 

Safe & Efficient Ground Exploration Using Deep Reinforcement Learning 

Hydraulic Actuator Low Level Controls

Time Varying LQR and Optimal Swing-Up of a Variable Length Acrobot

Planar Fixed-Gait Biped

Custom Planar Biped

Vision-Guided Tele-Operation of a Hydraulic Arm

Self-Adjusting Umbrella