Portfolio

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.

Code     Video    

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.

Website     Code    

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.

Website    

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.

Code