Performance Aware Computing

The SCS2 logger is a time-series logging system that records the full internal state of a robot using YoVariables, enabling deterministic replay and detailed debugging of both simulated and real-world runs.

Perceptive Locomotion over Uneven Terrain

Using an A* footstep planner, the robot plans its next 3 steps over the terrain. After each step the robot replans its next steps using the latest terrain map. Where all planning and execution logic happens autonomously in a custom state machine, enabling smooth, continuous motion in many environments.

This approach allows the program to stay responsive to terrain changes as they come into view.

Debugging Robot Hardware

Kept robots running by tracking down and fixing hardware faults across multiple platforms. Things like joint zeroing issues and joint encoder issues were common as the robotics team builds its own hardware.