Portfolio

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

The robot uses onboard depth cameras to build a grid-based height map of its surroundings. This representation is passed into an A* footstep planner, which generates the next three steps based on the current terrain.

After every step, the robot replans using updated sensor data. Rather than committing to a full sequence, it keeps only the immediate next step and discards the rest. This allows the system to stay responsive to new obstacles and terrain changes as they come into view.

All planning and execution logic is managed by a custom state machine, enabling smooth, continuous motion in dynamic environments.

Debugging Robot Hardware

Diagnosed and resolved hardware issues across multiple robot platforms, including zeroing faults that caused incorrect joint position readings and unexpected behavior during operation. Performed hands-on disassembly of robot limbs to investigate unusual noises and locate loose components, restoring reliable function and preventing further mechanical degradation.