Robotics

Polarworks

In my current full-time role at Polarworks I'm doing exciting work behind the scenes to make programming and control of industrial robot manipulators more intuitive and powerful. There's not much I can say about it yet, but keep an eye out.

Velox Robot

My former role at Pliant Energy Systems focused on developing a propulsion concept for coastal robotics that uses undulating, flexible fins instead of spinning blades. We secured non-dilutive funding for this R&D work via a substantial two year+ contract with the Office of Naval Research in response to a BAA opportunity.

Velox GIF

Pliant Energy Systems' Velox amphibious robot GIF-ified by Reddit

I was the PI for the Velox ONR R&D project and was heavily involved in all aspects of the robotic system development including:

  • Project technical administration and technical reporting
  • Actuator selection and performance characterization
  • Reproducible analysis of performance test data using Jupyter notebooks
  • All electronic hardware design and substantial mechanical system design
  • Electromechanical system prototyping and system integration
  • Nonlinear finite element modeling of flexible fin thrusters, other flexible mechanisms, and entire robots using Abaqus
  • All embedded firmware development, ROS integration, and control software development
  • Novel control system development for biomorphic finned robots
  • Computer vision development for navigation and maneuvering experiments
I've got years of experience in SolidWorks and Abaqus dynamic modeling of nonlinear mechanical systems. I'm proficient in Python and C and I heavily automated Pliant's simulation workflow with in-house Python software. Automation of model setup and simulation post-processing enabled us to carry out rich parametric studies on soft robotic component performance.

From Pliant Energy Systems' YouTube channel

I'm no longer working full-time at Pliant but I'm still involved in in an advisory capacity with the future development of the next-generation follow on to the Velox project, The Pliant Energy Systems C-Ray.

Press

We got some substantial media attention from the Velox project. Some media hits: