Robotics!

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Expect for some major changes to occur within the new few hours and days!

Robotics is a super fascinating field to me, both for the algorithmic rigor and the awesomeness of seeing your code work on hardware! Below are some neat projects I've gotten to work on!

Experiences

Robot Locomotion Lab

I worked on porting high-resolution robocasa kitchen environments into Drake, specifically with an interest of running Spot in the environments.

Model-Based Embedded Robotics Lab

I worked on distributed and online algorithms for multi-drone search-and-rescue tasks!

Haystack Observatory

I worked on modelling megaconstellations with GMAT.

Projects

Modelling 1000+ Satellites with GMAT

Over the summer, I got to learn how to conduct orbit modelling and wrote a Python program to generate a script to feed into NASA's GMAT to simulate over 1,000 satellites in low-Earth orbit (LEO). This is simulating a Walker Constellation.

OrderBot

For 6.421, I built a robot that could prepare foods from a human order given a list of random ingredients from a known set of ingredients.

Robocasa in Drake

I created a script to port RoboCasa kitchen environments into Drake's meshcat!

Search-and-Rescue

I created distributed, online multi-drone search-and-rescue demonstrations on Crazyflie hardware!