Columbia University
Aug 2024 — Dec 2025MS, Mechanical Engineering
Robotics and Control concentration.
Probabilistic RoboticsReinforcement LearningApplied RoboticsModel Predictive ControlModern ControlsData Science
04 — Projects
Selected Work
MiniBEE: Mini Bi-Manual End Effector
- Developed a miniature bi-fingered end effector for improved robot dexterity under Prof. Matei Ciocarlie and the ROAM Lab.
- Kinematic analysis and design optimization in ROS2 to maximize workspace utilization and finger performance.
- Trained behavioral cloning diffusion policies for dexterous manipulation tasks.
- Published at ICRA 2026.
Extended Kalman Filter SLAM
- Implemented EKF SLAM (Thrun's Probabilistic Robotics) as a ROS2 package for online simultaneous localization and mapping with known data association on a TurtleBot3.
- Designed the full state vector and covariance architecture — robot pose, landmark positions, cross-covariances.
- Built the prediction/measurement-update pipeline using range-bearing observations from corner detection on colored cylindrical landmarks.
MPC–ISM Control for Manipulators
- Hierarchical three-layer controller combining Model Predictive Control and Integral Sliding Mode for robust tracking on nonlinear manipulators.
- Inverse dynamics linearization to decouple nonlinear MIMO systems, with ISM uncertainty rejection and MPC trajectory tracking.
- Multi-rate simulation — fast ISM (1 ms) and slower MPC (20 ms) — on a 3-DOF manipulator under injected uncertainty.
- Based on Incremona et al. (2017), IEEE/ASME.
Bipedal Walking Robot
- Designed, fabricated, assembled and programmed a bipedal walking robot from scratch with a teammate.
- Kinematic analysis of bipedal gait using CAD keyframing and function smoothing.
- Achieved a final walking speed of 10.4 cm/s.
Final Year Project
- Developed camera-feed integration for an HMI on a construction-site stair-climbing robot.
- Literature review of image stitching for 360° views with fisheye cameras, and sensor sourcing.
- Implemented stitching and prepared frames for directional feeds.
Robotic Dishwasher
- Engineered a 6-DOF robotic arm and supporting mechatronics to automate dishwashing.
- Designed trays for dirty/clean utensils and a rinsing/scrubbing station handling 5+ utensil types.
- Led controls using ROS, MoveIt! and Dynamixel Workbench for motion planning and actuation.
Tennis Ball Collector
- Designed and prototyped the winning robot for a course competition.
- Programmed motion and search strategy to locate tennis balls and return them to a drop-off point.
- Integrated sensors with the VEX microcontroller for boundary, pickup and drop-off status.
Cyborg Beetle — Swarm Research
- Part-time research with Prof. Hirotaka Sato's team.
- Designed experiments evaluating swarm exploration efficiency (sizes 10–100) across algorithms — E. coli-like motion, fixed and variable step length — in ARGoS 3.
- Logged performance data for comparative analysis.