Akemi Sabatier Email and Phone Number

Teaching Assistant for "Hands-On Introduction to Building AI-Enabled Robots" class

- Researching vine robots in the CHARM lab (Collaborative Haptics and Robotics in Medicine)- Installed an embedded sensor system with camera, lidar, Inertial Measurement Unit, and WiFi protocol increasing data transmission by six times and improving robot perception for more accurate closed-loop autonomous control.-Designed PCBs for pressure regulator controls and a power unit with recharging and voltage regulating capabilities used to supply power to all sensors.-Created camera detection Python class for AprilTags to compare models to experimental data and training.-Collected data from pressure regulators to characterize the pressure and voltage readings into an equation implemented into the teleoperation controls.

- Improved live 3D modeling of the first commercial so manipulator by using IMU sensor readings along the robotʼs body and applying the Piecewise Constant Curvature mathematical model to determine its orientation and position.- Wrote arduino and matlab code to stream raw IMU readings and apply Mahony filter to model the movement of the robot segments in real time.