Selected Projects

Compact Mobile Battle Robot

As part of a team of four engineers (Solomon Gonzalez, Pyo Lim, Cole Nagata, and myself), we designed and built a compact mobile robot for a competitive robot battle arena…

Diffusion-Based Trajectory Generation in Maze Environments

Trajectory planning in cluttered environments is traditionally framed as a search or optimization problem. Given a map, a start, and a goal, classical planners explicitly…

Implementation of Operational Space Control Barrier Functions on Franka Manipulator

Together with Mateusz Jaszczuk, I implemented a safety-critical control framework that integrates control barrier functions (CBFs) into an operational space controller for a…

Passive SE(3) Energy Tank Control for Contact-Rich Manipulation

This project develops a controller that guarantees passivity for six degree of freedom robotic motion in contact rich environments. The work extends the concept of energy…

Performance Analysis of Boids for Coverage

This work, conducted in collaboration with Jason Chen, investigates the use of Reynolds-style boids as a distributed coverage algorithm. We formalized the canonical…

Vision-Guided Pick-and-Place with a 7DoF Robotic Arm

Together with Solomon Gonzalez, Mateusz Jaszczuk, and Andrik Puentes, we developed a robotic system that could autonomously detect, grasp, and stack blocks in both static…