Worked with Controls Software team on Self-driving trucks for Summer Internship

Refined SLQ-MPC trajectory tracking algorithm in Matlab for a pendulum, and performed a mathematical analysis

Implemented and tested throttle control for an Autonomous ATV in C++

Steering controls and testing for a robot that goes through pipes to measure the amount of Uranium in the pipes

Designed a waypoint planner and control for the quadcopter to perch on a surface at any given angle using ROS middleware.

Wrote RRT and RRT-star algorithm for a 5-DOF robot, A* search for a point robot in C++

Devised a sprocket-chain mechanism for a wheelchair, and built it from scratch

Built a force sensor using the cantilever bending concept for a force applied

Implemented LQR control for a Furata pendulum to keep it upright and perform different motions.

Reduced controls software code complexity for a robot that can apply a force at different points to trip a user wearing the prosthetic leg.

Engineered a pulley-cable system for an ankle exoskeleton using Solidworks

Performed a Matlab optimization and fabricated a four-bar mechanism to build an all-terrain wheelchair