Robots
From autonomous vehicles to soft-body manipulators, robots I've been fortunate to work with over the years
Kinova Gen3
7-DoF assistive robot arm used for my PhD research on whole-arm physical human-robot interaction. Built tactile sensing skins, developed contact-rich manipulation strategies, and conducted user studies for caregiving tasks like bed bathing.
Punyo
Soft-body robot designed for whole-body manipulation. During my internship at TRI, I worked on leveraging Punyo's compliant body for contact-rich tasks involving human-robot interaction.
TriFinger
Three-fingered dexterous manipulation platform. Developed and benchmarked structured policies for real-world object manipulation. Secured 2nd place in the NeurIPS 2021 Real Robot Challenge.
Thorvald
Agricultural robot for autonomous UV-C treatment of crops. As a Robotics Software Engineer, I worked on the navigation and perception stack for autonomous field operations.
MuSHR
1/10th scale autonomous car platform. Used for multimodal trajectory prediction research at uncontrolled intersections.
HERB
Home Exploring Robot Butler. Worked on POMDP-based manipulation planning, enabling HERB to perform object search and retrieval tasks under uncertainty.
Husky
Clearpath's four-wheeled differential drive robot. Used for outdoor navigation experiments and autonomous driving research.
Mahindra e2o
Electric vehicle platform for the Mahindra Rise Prize self-driving challenge. Contributed to the autonomous driving stack including perception and path planning.
Eklavya
Won second rank in a global autonomous driving challenge competing in an obstacle course.