Posts by Collection

Smart Dorm: Face Recognition-Based Door Unlock

Designed, fabricated, and programmed a system that detects registered individuals utilizing a simple camera and unlocks the dorm room for registered users. Utilizes raspberry pi for the computer vision processing and an arduino to operate a cable pulley system that twists the door handle to unlock the door.

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Frisbee Throwing Robot Manipulator

Attempted to enable UR5e to throw a frisbees. Designed pipeline that leveraged fiducials in order to perform motion capture from RGB input and re-create on robot. Due to safety limits was not able to perform a successful throw.

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Augmented Reality Football Helmet

3D printed and fabricated NFL helmet with a twist: the player can equip an AR display using their phone.

LimbX: an AR controlled supernumerary limb

Collaborated with friends to develop novel augmented reality (AR)-controlled continuum supernumerary robotic limb (ARCCSRL) that allows users to deliver high-level control commands using eye-gaze input supported by secondary voice commands.

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Magic Mirror

Designed and built smart mirror. Utilized one way mirror and designed and machined the wooden housing for the mirror and the components.

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Harvard Undergraduate Robotics Club PacBot

Competed in Pacbot competition with the objective of building a robot to beat PacMan. Worked on the controls team where I was responsible for low level PID trajectory following.

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Building Olympian Quadrupeds: Reinforcement Learning for High-Performance Jumping

As a final project for our reinforcement learning class, this work explores enabling quadrupeds to perform athletic maneuvers like optimal leaps. Using advanced reward shaping and curriculum learning, we aim to enhance performance, generalization, and robustness across terrains, extending to maneuvers like long jumps.

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Week 5: 3D Design, Printing, Scanning

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Week 2: 2D Design & Cutting

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Week 10: Multi-Color Drawing Machine

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Week 3: Kinetic Sculpture

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Week 7: FoldX MVP prototype

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Week 9: Live Population Tracker

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Final Project: Clothes Folding Robot

A clothes folding robot using a double linkage system.

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Week 4: Arduino Programming

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Week 1: Final Project Proposal

Interested in developing a system that can help improve the overall organization of my dorm room. An immediate example of such a device would potentially be a laundry folding robot.

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Week 6: Sensor Input and Calibration

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Week 8: CNC Design and Fabrication

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Paper Title Number 1

This paper is about the number 1. The number 2 is left for future work.

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Paper Title Number 2

This paper is about the number 2. The number 3 is left for future work.

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Paper Title Number 3

This paper is about the number 3. The number 4 is left for future work.

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3D Mapping and Stability Prediction for Autonomous Wheelchairs

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Decentralized Data Fusion with Probabilistically Conservative Ellipsoidal Intersection

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Progress Toward Detection and Pose Estimation of Arbitrary Object Types by Space Robotic Caretakers

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Paper Title Number 4

This paper is about fixing template issue #693.

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Hardware-in-the-Loop for Characterization of Embedded State Estimation for Flying Microrobots

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Cooperative Multi-Agent Graph Bandits: UCB Algorithm and Regret Analysis

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