Cable-Actuated Air Hockey Robot
A four-cable parallel robot for air hockey. Four corner-mounted MJ5208 BLDC motors tension cables that meet at the mallet; an overhead camera + EKF tracks puck and mallet; a naive MPC plans quintic-spline strikes.
Robotics
PAIR: Port Alignment Insertion Robot
A robust robotic manipulation system combining Eye-in-Hand visual servoing with force-guided spiral search for sub-millimeter precision USB-C insertion.
Constrained RL for Safe Legged Locomotion over Transient Terrain
ME 193B project exploring constrained RL for humanoid locomotion on dynamic stepping stones using IsaacLab and MuJoCo.