Learned Locomotion Through Underbrush
Learning locomotion and disentanglement policies for quadrupeds in dense, compliant vegetation.
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In progress
Current Work
Active PhD research in the Robomechanics Lab. Pick a project to dive in.
Multi-Agent Autonomous Terrain Modification
Coordinated multi-robot whole-body control for terrain modification, using terramechanics models of ground contact.
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Locomotion in Deep Mud
Legged locomotion through deep, cohesive mud, where sinkage and suction dominate contact.
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Quad-SDK
An open-source, full-stack ROS framework for quadrupedal locomotion that I maintain.
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