Projects

PIEJAM is an inversion and eversion ankle joint mechanism that allows the user to perform ankle inversion and eversion while using an ankle exoskeleton.

A reinforcement learning algorithm designed to tune the attitude controller gains for the geometric tracking controller for the quadrotor.

Augmented an existing PD controller for a unicycle by adding a disturbance observer inner loop, improving the performance by reducing the overshoot. Implemented and tested the controller in Matlab and Simulink, confirming the performance improvement.

Created an adaptive quadrotor controller by using the geodesic distance of the manifold of physically consistent inertial parameters. The adaptive law was implemented to the geometric tracking controller to create the adaptive quadrotor controller.

Created an autonomous quadrotor capable of detecting and avoiding obstacles, automatically landing on a designated landing area, detecting a pre‑determined delivery point and delivering a payload to it.