Hello! This is where I share fun projects I’ve worked on.

I graduated from Virginia Tech with a bachelor’s in computer engineering focusing in controls, robotics, and autonomy and am currently pursuing a master’s in robotics at Carnegie Mellon. I enjoy both fabricating robots and making them think, and this website is a place for me to document projects of those varieties.


Project List

  • TinyMPC
    TinyMPC was my primary contribution to the Robotic Exploration Lab during my first year as a master’s student. TinyMPC aims to run model-predictive control on resource-constrained microcontrollers, but of course can run on anything faster as well. The paper is on arXiv,… Continue reading TinyMPC
  • ForceBot
    ForceBot is a research project in the TREC Lab at Virginia Tech. The goal of this project is to develop a virtual reality force feedback system for a user’s arms and legs. The lower half of force bot is a large gantry… Continue reading ForceBot
  • Lunar Assembly Robots
    Part of my undergraduate research life at Virginia Tech was spent in the FASER Lab (Field and Space Experimental Robotics). The lab revolved around lunar assembly, and my projects revolved around two robots: MARC and the ASSEMBLER. MARC was a simple mecanum… Continue reading Lunar Assembly Robots
  • Catan Detector
    My friends and I played a lot of Catan so for our computer vision final project we decided to make a Catan game state detector. This project doesn’t play the game. Instead, it uses a photo of the game board to figure… Continue reading Catan Detector
  • Snowflake PCB
    I decided to build this ornament as a little holiday present to some of my friends. The board itself is only an ATTINY85, four resistors, a battery, and a switch. The interesting part is the method for individually controlling twelve different LEDs… Continue reading Snowflake PCB
  • 6-DOF Arm
    All the code for this project is on my GitHub. I’ve made a plethora of 3D printed, 6-DOF robotic arms in the past. This one was my attempt at a larger, more functional design. The actuators are all fairly cheap stepper motors,… Continue reading 6-DOF Arm
  • Squeaky V3
    Squeaky V3 came out of a collaboration with Virginia Tech’s TREC Lab. The lab director took interest in my work and thought it would be interesting to mass produce a low cost version of these robots for human-robot interaction and swarm research.… Continue reading Squeaky V3
  • Squeaky V2
    Squeaky Version 2 has quite a few substantial changes compared to V1. The body underwent a redesign, the battery is more compact, and it uses a microprocessor + microcontroller combo instead of just the Teensy 4.0 microcontroller used on Squeaky V1. I… Continue reading Squeaky V2
  • Squeaky V1
                   Squeaky was a product of Covid-19 induced quarantine free time and my parents’ disapproval toward having a dog. To be clear, my parents didn’t want to deprive me of doggie ownership, it was just never plausible. Fortunately for me, though, robots… Continue reading Squeaky V1
  • Furuta Pendulum
    The futura pendulum uses a singular motor to actuate a two degree-of-freedom system and control the movement a freely rotating shaft, usually with the intent of maintaining the shaft’s upright orientation. Linearized furuta pendulum dynamics (when considering a small rotation angle) are… Continue reading Furuta Pendulum