Supported the dexterous robotics team at NASA JSC in their quest to further research in mobile manipulation and VR operation by bringing a Valkyrie unit back up to operational capacity through software testing and development on embedded hardware. Also designed, prototyped, and tested mounts used to secure Valkyrie’s 170lbs torso.

I was primarily involved in the design and implementation of a PID controller for a camera gimbal to be used with a UAV for vision-aided navigation and target tracking. - Develop PID controller using MATLAB and Simulink- Analyze and compare on-board vs simulator accelerometer data using MATLAB- Develop quaternion rotation for acceleration vectors on the flight controller- Write the algorithm for gimbal control in C++ - Integrate controller algorithm in a Linux environment using DJI software development kit - Asses controller performance and tune gains accordingly- Produce a summary of procedures and finished code for system integration- Demonstrate gimbal performance to team and professor