Research & Projects

Research:

• Reinforcement Learning for Reduced-order Models of Legged Locomotion 

• Optimal Reduced-order Models

• Integrable Whole-body Orientation for Legged Robots

Engineering:

• As the first PhD student working on Cassie in the DAIR lab, I designed many parts of the software infrastructure using Drake from scratch, and developed Cassie's state estimator and baseline standing/walking controller on hardware.

• Below is Cassie walking outdoor for the first time with our controller (joint effort with Will Yang and Brian Acosta)

Independent study (master's program):

• Walking and running controller of the bipedal robot RAMone   [Workshop Paper] [Poster at Dynamic Walking]

Class projects (master's program):