On a mission to fully unlock humanoid hardware’s potential. From frequency response analysis to first article bringup, sensor calibration, failure detection, and high bandwidth joint control, I glue software to hardware and strive to provide a rock solid actuation foundation for advanced behaviors.

Our team’s mission was to deliver the core manipulation and grasping control software for Stretch. We strove every day to unlock the full manipulation performance of this robot. In the process we both enhanced grasp robustness as well as throughput, and doubled the active case rate for trailer unload.

Led team responsible for hardware bringup, diagnostics, and low-level control for Stretch. Our team:- Brought up the first Stretch Alpha robots- Tuned (with redesign as needed) every feedback loop on Alpha- Implemented hardware-focused faults- Delivered automatic calibration for robot hardware (e.g. force sensors)- Designed automated hardware health check framework, for on-board diagnostics

- Analyze, tuned, implemented force and position feedback controllers for Prototype Stretch in C++. Iterated between simple-model analysis and testing in hardware. Gained insight into key system parameters, which later informed Alpha hardware decision choices. Focused on extracting maximum bandwidth without compromising stability. - Controls bringup of Prototype Stretch robots. Worked closely with technicians to breathe life into our robot fleet.

Mars Perseverance Rover: I led and wrote the controls code for the rover's five-actuator coring drill. I worked tightly with my mechanical teammates to conceptualize, prototype, test, analayze and harden the design and software on our end-to-end system. This included novel adaptive drilling techniques for handling a wide variety of rock types and surface topographies. These algorithms and contollers are successfully operating on the surface of Mars right now, enabling in-situ science as well as collection of samples for eventual return to earth. I routinely performed failure analysis in the 5+ years of testing we did leading up to launch, helping ensure we fully understood the integrated capability we delivered. I also led controls analysis of the 17 actuators on the Sampling and Caching Subsystem, including analytical proof of their stability across the rover's operating conditions.Robosimian: Manipulation behaviors and controls for this custom quadraped, as well as lead operator in the 2015 DARPA Robotics Challenge Finals.