About These Projects
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This is a listing for all my projects, big and small. This includes a few short projects for classes that were fun to add, but don't have a significant writeup. My selected projects are linked on the home page.
Some of these projects are ongoing and will be updated when I have updates.
Full Project List
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Anthropomorphic Robotic Arm
Ongoing personal project to build an anthropromorphic robotic arm. This arm has been designed for upcoming work on embodied machine learning and imitation learning. Design makes significant use of brushless motors with capstan drives to acheive a high torque density with good controlability and low cost.
August 2024 -
Cornell Mars Rover Arm
The Rover Arm was made for the Cornell Mars Rover team to compete in the University Rover Competition's equipment servicing and extreme delivery missions. The arm was designed to complete high load tasks as well as precision tasks. It makes use of brushless motors, strain wave gearboxes and an assortment of structural elements.
June 2024 -
Robotic Quadruped
My senior design project at Cornell with the goal to design and build a robotic quadruped named Sparky. The dimensions are approximately that of the MIT mini cheetah, and much of the overarching design takes inspiration from that work. This design uses custom designed, machined, and assembled internal cycloidal actuators.
December 2023 -
3-Axis CNC Mill
Personal project for a custom-designed and built 3-axis CNC machine. The machine is capable of milling most soft, non-ferrous metals, as well as some ferrous metals and other hard materials. It features a custom steel frame, ball screws, linear profile rails, and a 20,000 RPM COTS spindle. The mill has primarily been used for milling aluminum, with some bronze and occasional steel.
August 2022