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Designed a dynamic model and optimized a control system for thruster-assisted bipedal robot Harpy. Achieved a 95% improvement in gait stability through capture point control and a 50% boost in push recovery using thruster actuation. Performed comprehensive simulations of thruster-assisted locomotion, securing a 90% success rate in recovery from unstable states.

Designed and implemented an automated grading system on GitHub, slashing grading time by 80% and enhancing efficiency. Provided extensive technical support to over 100 students in sensor integration and programming in ROS and Python. Leveraged Python to build sensor emulators for GPS and Vectornav IMUs for ROS labs, facilitating interactive learning and developing assignments to improve students’ data visualization and sensor understanding.

Developed and refined the control of autonomous multiple trailer systems in warehouse automation, enhancing efficiency by 33% by employing advanced simulation techniques in Gazebo and ROS to ensure safe implementation. Designed custom attachments for ALOG® T-1000 AMRs using SolidWorks, enhancing the robot’s capability to move 30% more trailers. Integrated trajectory planning algorithms using modified A* and grid-based search for traversing in warehouses.