Brucebot
@ the Biped Lab

In particular, I seek to develop a full autonomy system that allows bipedal robots to

1) Acquire multi-modal data from a calibrated perception suite;

2) Estimate their poses in textureless environments;

3) Detect and avoid dynamic obstacles;

4) Traverse unexplored, unstructured environments and undulating terrains.

5) Perform point-to-point topometric navigation.

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All the research conducted focuses on advancing the state-of-the-art algorithms that will achieve autonomy of bipedal robots — Cassie Blue and Digit.

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Previously, I have done research and projects in a wide variety of areas such as deep learning for autonomous vehicles on perception, Simultaneous Localization and Mapping (SLAM) and motion planning for small autonomous vehicles,  3D reconstruction, etc. Specifically, I worked on pedestrian prediction along with action recognition, 3D skeleton pose estimation and gaze angles to assist autonomous vehicles under the supervision of Professor Matthew Johnson-Roberson in the DROP lab. Also, I worked on SLAM with Professor Edwin Olsen in the APRIL Robotics lab. In particular, I worked on an Apriltag follower to have the MAGIC robots which are wheeled robots to follow multi-agents by using mono-camera and robots are also able to be guided to turn or to go by voice commands along with silence detection. In the meantime, I also implemented visual odometry with RGBD camera to correct errors from encoders on wheeled robots and also compared to GPS as the ground truth.

I hope you’ll find this website useful. If you have any comments or suggestions, please feel free to contact me.