Designed and tested parts for the lower body of the Alex humanoid robot• Designed a linkage, clevis, and chose bearings to withstand 17000 N of force for a 4-bar remote knee joint• Performed FEA analysis on cycloidal actuator eccentric shafts to reduce flexion and prevent rotor-stator scraping• Prototyped a lightweight foot to house an IMU and force sensor using a high-stiffness clamshell-style design• Created configurable mockups to determine optimal wire routing across multiple moving joints

Developed components and testing fixtures for the Apollo humanoid robot• Designed a custom 48V BLDC housing and dyno testbed capable of running at up to 4 Nm and 4000 rpm• Prototyped an improved sole for the robot foot, along with in-house urethane molding capability• Designed and built an 8’x11’ modular and portable frame capable of supporting over 500 lbs to collect robot stepping data using force plates

Mechanical design and testing of the auto-refilling dock for the Roomba Combo J9+• Designed injection molded parts from ABS and PP including latches, snap fits, switches, and PCB covers• Prototyped and tested modifications to drawer and vacuum systems to improve feel and acoustics for users• Redlined and updated assembly drawings to add specifications for installation and first article inspection

• Oversee rooms in studio, assist with student projects, and enforce safety guidelines• Trained on 3D printing, wood, metal, waterjet, laser cutter, and electronics tool areas

Developed an impedance-controlled humanoid upper body to safely perform tasks alongside humans• Led mechanical design by assigning weekly tasks, educating new members, and tracking team progress• Designed a 3DOF shoulder mechanism consisting of three backdrivable actuators capable of producing 40Nm of torque powered by BLDC motors and a two-layered timing belt transmission• Wrote inverse kinematics/dynamics simulations using MATLAB and URDF files to assess torque requirements

Design and installation of a robotic sanding and polishing cell for bathtubs• Designed PLC logic for conveyor and door systems to facilitate tracking and movement of parts in cell• Wrote HMI software for operators to load parts, change tools, and manage alarms using a touchscreen UI• Created point cloud path programs enabling 4x faster robotic material removal vs polishing by hand• Worked with VFDs, relays, proximity sensors, photoeyes, and force sensors to control automated systems

• Aided in the design and manufacture of a vertical spinner and a pneumatic flipper battlebot• Utilize CAD, FEA, 3D printing, and metal machining (lathe, mill, waterjet)