A four-cable parallel robot for air hockey. Four corner-mounted MJ5208 BLDC motors tension cables that meet at the mallet; an overhead camera feeds a mallet EKF and a puck predictor; a receding-horizon (naive MPC) planner picks between defending and quintic-spline strikes every 10 ms.
Thirteen interactive demos of the coverage control paper by Cortés, Martínez, Karatas and Bullo: Lloyd descent, the asynchronous distributed versions, second-order and wheeled vehicles, and density-designed formations. They run in your browser.
A robust robotic manipulation system combining Eye-in-Hand visual servoing with force-guided spiral search for sub-millimeter precision USB-C insertion.
ME 193B project exploring constrained RL for humanoid locomotion on dynamic stepping stones using IsaacLab and MuJoCo.