I work as an undergraduate researcher in TRACE Lab at Purdue University. The lab's research focuses on the simulation and control of legged robots including quadrupeds and humanoids. Although many of my recent projects have focused on hardware (particularly mechanical design and integrating hardware with existing humanoids), I also have a strong interest in software, with a focus on reinforcement learning.

Human-Robot Interaction Project

The human robot interaction project aims to utilize robots capable of locomotion to assist humans with limited mobility in completing specified tasks. This is quite expansive and involves a wide range of topics such as data collection, perception, estimation, simulation, etc. Some of my personal contributions to this effort so far include:

Designing and manufacturing a wearable device to determine forces experienced by a humanoid robot while assisting someone walking with limited mobility. Device contained three 1D load cells (to measure overall force application using imbedded strain gauges) and a tactile sensor (to measure grip strength and location) with the overall system controlled by an Arduino Uno and STM32.
Designing custom load cell calibration test setup and comparing test data to predicted force values based on load cell calibration geometry.
Participating in human interaction experiments to collect data on force interactions

Note: Since this is an active research project, limited information is provided.

Experiment Setup Devices

Mechanical Design and Hardware

Hardware projects have enabled me to design components for a wide variety of existing robots including various humanoids and quadrupeds. These designs utilize common fasteners and require knowledge of tolerances, principles of structural design, and 3D printing. I've also assisted with robot repair and running experiments, including testing a quadruped in non inertial environments.

Wearable and Adjustable harness for NVIDIA Jetson Nano, Arduino Uno, and Battery Pack