Research

• Keep it Upright – Model predictive control for a mobile manipulator to move objects balanced on a tray to a desired location without dropping them or colliding with obstacles.  [Paper]  [Video]  [Code]

• Force Push – The first controller for robotic planar pushing with single-point contact using only force feedback to sense the pushed object.  [Paper]

• Mobile Manipulation with Differential Inverse Kinematics Control – Whole-body control for a mobile manipulator capable of task-space trajectory tracking, force regulation, obstacle and singularity avoidance, and pushing an object toward a goal location, with limited sensing and knowledge of the environment.  [Paper]  [Video]

• Safe Online Learning with Gaussian Processes – A safe online learning-based controller for robot manipulators that combines robust control with Gaussian process regression.  [Paper]

Tools

• xacrodoc – Compile xacro files to URDF directly from Python (no ROS required).  [Code]

• pyb_utils – Small utilities for PyBullet, including shortest distance computation, point-clouds from cameras, recording video, ghost objects, and more.  [Post 1]  [2]  [Code]

• CppADCodeGenEigenPy – Compiled auto-differentiated code using CppADCodeGen combined with an easy Eigen interface and Python bindings.  [Code]

• vim-highlight-match-under-cursor – A vim plugin to uniquely highlight the current match under the cursor.  [Post]  [Code]

• j – Jump to previously-visited directories by name. If there are multiple matches, the user selects the correct absolute path from a list. A cousin of z with a more obvious directory-priority algorithm.  [Post]  [Code]

• xcp – A simple shell script to cut, copy, and paste files between directories from the command line.  [Post]  [Code]

• s – A simple shell script for easily sourcing files from any directory.  [Code]

Toys

• Predator Prey Simulation – A web-based simulation of flocking birds being hunted by predators.  [Demo]  [Code]

• Multicell – A curses-based version of Conway's Game of Life that allows for multiple species of cell, written in Python.  [Code]

• Revolutions – A simulation of bodies with gravitational attraction and elastic collisions in two dimensions.  [Demo]  [Code]

• Fractals – A collection of fractals including the dragon curve, Sierpinski triangle, Mandelbrot set, and Koch snowflake.  [Demo]  [Code]

Coursework

• Nuclear Power Plant Inspection Robot – Engineering capstone project on a mobile manipulator robot for nuclear power plant inspection.  [Post]

• Read My Lips – A neural network for reading lips.  [Paper]  [Code]