Led development of confidential testing platform for internal use

Utilized knowledge of mechanisms, sensors/actuators, and hydraulics/pneumatics in testing platform design

Set up virtual lab station, designed and conducted experiments, and performed tests for data acquisition

Implemented image processing system for detection using Python and OpenCV

Liaised with senior engineers on Planning, Simulation, and Sys Eng teams to understand their work and

Participated in discussions with the CEO, CTO, Engineering Directors, and Team Leads to learn about the

Hosted company-wide 30-min poster session and 1-hr final presentation with Q&A to showcase internship project

Programmed extensively in Matlab and familiarized self with lab’s existing codebase

Implemented high level juggling controller to work with two distinct low level torque controllers

Modified simulator and visualizer to include the ball-to-robot contact dynamics and ball flight dynamics

Tuned algorithm on increasingly complex simulators before testing on hardware

Utilized Agility Robotics’ Cassie, a bipedal robot with 20 degrees of freedom, as a testing platform

Was the first lab to display successful juggling results on Cassie, achieving 42 consecutive bounces in experiment

Published the work as an equally contributing first author at the European Control Conference 2020

Video showcasing results (with > 25,000 views on Youtube):