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.

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.

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.