Location: Ann Arbor, MI | 09/2026 - 12/2026

Github: NDA/Not Available

 

Spearheaded the controls and communications framework for a wheeled-quadruped robot, including low-level CAN firmware, Forward and Inverse Kinematics, dynamically-aware Task-Space Control (TSC), dynamics modeling, and multi-threaded control firmware development in C/C++. Led a team of 4, delegated minor tasks to undergraduates, and drove progress from motor firmware interpretation and connection to TSC/multi-motor control. Certain closed-loop control systems were intermediately implemented among the primary systems for functionality validation, including virtual spring/damper systems, both for single motor and joint motor configurations, virtual walls, and gravity compensation demos for the leg. 

​

Maintained up-to-date and detailed documentation that was later used to onboard new members, and pass on the project to a new graduate student lead after my graduation. Presently providing guidance and support as development matures, as well as institutional knowledge regarding what was tried and done.