Case studies
Research studies and engineering systems share one evidence standard: completed results, active work, personal contribution, upstream foundations, failures, and limitations stay distinct.
All projects
8 projects shown
Humanoid Navigation Research on the Booster K1
A completed 1,077-episode simulation benchmark, an audited K1 locomotion stack, and a controlled study of how embodiment and viewpoint shape navigation failure.
Vision-Language Navigation · Embodied AI · Generalization
X-Embodiment Language-Grounded Manipulation Benchmark
A two-embodiment ManiSkill3 benchmark whose first large campaign found near-zero transfer under weak precision policies — then measured where action chunking helped and where it did not.
Robot Learning · Generalization · Manipulation
CLiDA LiDAR Debris Analysis
A five-person sensing project that estimated object dimensions, principal axis, motion, and rotation rate from point-cloud sequences — with final 1 RPM and 3 RPM trials reported against a controlled test stand.
Perception · Point Clouds · ICP
KUKA KR 6 Kinematics & Verification Suite
Forward and inverse kinematics, a geometric Jacobian, singularity diagnostics, and trajectories — cross-checked against finite differences and a generated URDF in a 39-test suite.
kinematics · jacobian · trajectory
Autonomous Hexapod — NASA Colorado Robotics Challenge
A four-person team integrated and fielded an 18-DoF hexapod at Great Sand Dunes; my work centered on team integration, electrical/control interfaces, and a later coupled-oscillator gait study.
field robotics · controls · embedded
Legacy Robot Restoration & Inspection Tooling
Restored two unsupported industrial arms, rebuilt the ROS workstation, and developed synthetic-data and YOLO tooling for an inspection research direction — without publishing an invalid detector metric.
robot restoration · ROS · synthetic data
Embedded, FPGA & Board-Level Systems
A curated hardware portfolio spanning a four-layer Arduino-Mega-class board, direct-register 40 kHz ADC sampling, a hand-built IR link, FPGA protocols, and CMOS design exercises.
embedded · FPGA · PCB
KDUR Community Radio Data Platform
A Power Apps catalog and scheduling system designed with a community radio station for more than 60 daily users, plus embedding and graph-database prototypes — handed off before deployment.
product · data platform · embeddings