Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
To Appear at IEEE ICRA 2024
I am a PhD student styudying Mechanical Engineering at Carnegie Mellon University and currently an intern on the Robots, Ethics, and Society team at The AI Institute. I work with Dr. Aaron Johnson in the Robomechanics Lab, where my two main reserach thrusts are the control of legged robots in complex environments and the implications for when these robots are deployed in public human environments.
I received my MS in Mechanical Engineering from Carnegie Mellon in 2022 and BE in Mechanical Engineering and Math from Vanderbilt University in 2020.
Here is my research output that I have worked on:
Navigating a Complex World: Improving Robot Outcomes Through Social, Regulatory, and Control Theoretic Approaches
Thesis Proposal
Grounding Robot Locomotion in Self-Defense Law
Presented at IEEE RO-MAN 2023
By Air or by Land: How Locomotion Methods Dictate Drone Ethics
Presented at ICRA 2022 Workshop on Addressing Ethical and Technical Challenges in the Development, Use, and Governance of Lethal Autonomous Weapons Systems
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits
Presented at IEEE ICRA 2022