I am a robotics researcher interested in designing, building, and controlling robotic systems. My work spans mechanical design, sensing, embedded systems, simulation, and control, with an emphasis on turning research ideas into working robotic platforms.
About
I am a graduate researcher in Mechanical Engineering at Carnegie Mellon University. My interests span robot design, locomotion, sensing, control, embedded systems, and state estimation.
I am especially interested in projects that require close integration between hardware and software, where mechanical design, sensing, and control have to be developed together for the robot to work reliably.
Research across legged, underwater, aerial, and bio-inspired robotic systems.
Current-based proprioception · Small-scale locomotion
A fully untethered centimeter-scale quadruped that uses motor current as a source of proprioceptive leg feedback. A neural-network classifier estimates stance and swing, providing contact events for closed-loop gait coordination without joint encoders or dedicated foot-contact sensors.
Underwater robotics · State estimation
Research on an articulated underwater robot involving ROS integration, vision-based state estimation, and mechanical design for underwater operation. The work combines system integration with practical design considerations for reliable testing in water.
Aerial self-righting · Bio-inspired robotics
A bio-inspired robot that combines an actuated spine and tail for aerial self-righting. The platform is used to study how multiple body-reorientation strategies can work together during rapid recovery maneuvers.
Decentralized coordination · Bio-inspired control
Research on emergent inter-limb and body–limb coordination using decentralized control. The work explores how coordinated locomotion can arise without prescribing complete foot trajectories.
Hands-on robotics and mechatronics projects outside the research section.
Mechatronics · Feedback control
A self-balancing motorcycle project that uses a reaction wheel to generate corrective torque and stabilize the vehicle. The project combines mechanical design, sensing, actuation, and feedback control.
Display hardware · Embedded electronics
A volumetric display project integrating a dense LED array, custom mechanical structure, and embedded electronics to explore three-dimensional visual display concepts.
CV
M.S. in Mechanical Engineering
B.Eng. in Electrical, Information and Physics Engineering
Additional background, experience, and updates are available on LinkedIn.
Contact
If you would like to talk about robotics research, collaboration, or related opportunities, feel free to reach out.