Quadruped Path Planner for Dynamic Environments
Implemented a global path planner for a quadruped robot moving in dynamic environments.
Portfolio
PinBot – Reinforcement Learning on a Pinball Machine
Developed a reinforcement learning agent using Proximal Policy Optimization (PPO) to play the pinball game Total Nuclear Annihilation.
Model Predictive Path Integral Control
Implemented MPPI on an RC car platform using C++ and ROS to enable aggressive driving.
Point-LiDAR Inertial Odometry
Implemented Point-LIO from scratch to overcome the drawbacks of scan-based LiDAR processing.
CMU Buggy Sim
Implemented various control techniques on a racecar simulation.
Re-Sizeable Autonomous Cleaning Robot
Designed a Floor Cleaning Robot that can adjust its size depending on need.
Prosthetic Arm
Performed Topology Optimization to reduce the material cost of a Prosthetic Arm.
