Completed Projects
Here are the projects I’ve done in the past, click the button to see more details!
Slip Detection and Control of
Wheel Robots on Surface with Minor Obstacles
Ducted Fan
Two-Wheeled Self-Balancing Robot Prototype
Robomaster 2023
Two-Wheeled Self-Balancing Standard Robot
Robomaster 2022
Mecanum Standard Robot
Two-Wheeled Self-Balancing Robot Prototype
Mecanum Wheel Car Prototype
Ongoing Projects
These are the projects that I’m currently working on!
Swerve-Drive
Two-Wheeled Self-Balancing Robot
I am investigating the dynamics and control of this robot. This robot has a novel mechanism utilizing two swerve modules to achieve theoretically omni-directional movements such as moving while spinning. My current research indicates that it is an underactuated state-dependent nonlinear system.
Embedded IMU PCB Design for
Digit Bipedel Robot
I am designing a small circuit board that can attach easily to the foot of the Digit Robot and the Dynamic Rigid Surface. Which allows instantaneous measurement of accelerations and angular rates and real-time transmission and visualization of measurements. This will be helpful for Zijian He, a PhD student in the TRACE Lab, in his research.
Quadcopter Flight Control
I am writing the flight control code for a quadcopter that I built. This quadcopter will serve as a test bed for more advanced control algorithms such as LQR and MPC. I am hoping I can use this quadcopter I built to shoot some pretty amazing pictures one day.