Motion Control (MPC and RL) of Go2 | RL Engineer
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Coming Soon
I develop intelligent motion and autonomy for dynamic robotic systems. By blending classical control with modern AI (RL, Imitation Learning), I enable complex behaviors in legged robots and autonomous vehicles. My projects span the full stack of robotics, from first-principles physics simulations to real-world autonomous exploration and VR-driven digital twins.
Search and Rescue with Go2 | Robotics Engineer
Developed an autonomous exploration framework for the Unitree Go2 quadruped, integrating Bayesian log-odds mapping and frontier-based planning to enable real-time navigation in unstructured environments.
Dynamic Handstand Robot | RL Engineer
Developed an imitation learning pipeline for a 7-link humanoid, synthesizing a multi-phase expert trajectory through privileged-DOF kinematic sketching and physics-based refinement to enable a stable cartwheel handstand.
Cassie Bipedal Robot Balance Control | Controls Engineer
Developed a contact force controller with a PD fallback for the 20-DOF Cassie biped, implementing a QP-based optimizer and dynamic COM trajectory to maintain balance and reject significant external perturbations.
Jumping Leg | Controls Engineer
Developed a complete hybrid simulation for a 3-DOF leg, designing a virtual constraint controller to track COM trajectories for stabilization, vertical jumps, and dynamic leaps.
Bi-Pedal Three-Link Walker | Controls Engineer
Developed a complete simulation for a bipedal walker from first principles, implementing dynamic modeling, physics-based validation, and trajectory optimization to achieve a stable gait.
Passive Two-Link Walker | Controls Engineer
Developed a hybrid simulation for a 'compass gait' passive walker, implementing continuous dynamics, discrete impact mapping, and Poincaré map analysis to verify gait stability.
Teleoperation of Kuka Robotic Arm | Software Engineer
Developed an immersive telerobotic system that enables precise real-time control of a KUKA robotic arm using VR hand-tracking and haptic feedback, enhancing remote manipulation through intuitive user interaction.
Autonomous Driving | ML Engineer
Developed an autonomous delivery robot using a convolutional neural network (CNN) to predict vehicle steering and incorporate color thresholding for stop sign detection, winning 1st place.
Digital Twinning Lab in Unity | Software Engineer
Built and led the transition of the Monash Smart Manufacturing Lab digital twin from Python to Unity, integrating 3D VR, CAD designs, URDF models, and two-way server communication for robot control.
Monash University | Software Analytics and Programming Intern
Developed immersive analytics and programming for the Nao humanoid robot, enabling vocal interactions, special tricks, and collaboration with the IT team.