Applied research engineer focusing on practical applications for mobile robotic manipulation.

• MuJoCo for contact-rich robotic simulation

• adaptive parameter estimation algorithms (RLS)

• mechanism kinematics modeling

• feed-forward/inverse dynamics control

• reduced order manipulator dynamics modeling

• gauss newton methods for sensor extrinsics calibration

• system identification

• multibody dynamics and simulation

• differentiable dynamics models for robotics

PhD Candidate, Currently on leave of absence

Advisor: Prof. Oliver O'Reilly

Topics:

• nonlinear dynamics (lagragian, newton euler, Kane’s method)

• numerical analysis (runge-kutta, finite difference, fem)

• convex optimization (SDP, LQR)

• optimal control (collocation and shooting methods)

• computational mechanics (FEM, nonlinear elasticity)

Applications

• rigid and flexible body modeling with contact

• compliant robotic manipulators

• modeling rope/cables/hair

SPG, robotics software engineer.

• Developed differentiable multibody dynamics physics engine for constrained 3D mechanical systems with CasADI