Projects

My work focuses on collecting multi-modal human demonstration data for Large Language Model (LLM) skill planning, developing skill-based robot control in MIOS, integrating haptic sensing for object state estimation, implementing robot vision systems, and contributing to deformable linear object assembly research.

I implemented two teleoperation systems (VR to Robots and Sigma.7 to Robots) and introduced a object recognition system, which combines 2D segmentation with depth information for accurate object position estimation. Additionally, vision-based tactile sensors are employed to enhance the robot’s capabilities in contact-rich tasks.

During my internship at Siemens Healthineers Innovation Center, I designed and developed a prototype autonomous mobile base for Digital Radiography (DR) and conducted market research on surgical robotics, focusing on puncture and orthopedic robot technologies. Additionally, I evaluated the potential integration of these robotic systems with Siemens imaging equipment.

Build a 3-DOF robot in MATLAB/SIMULINK, implementing Kinematics and Dynamics, Joint Control, Collision Detection, Inverse Kinematics Control, Nullspace Optimizations, Full Cartesian Impedance Controller within it. Robot Programming: Implement simulation part in a real robot (KUKA LBR iiwa).

AutonomousQuadruped is a project focused on developing a quadruped robot capable of navigating complex environments autonomously. It leverages advanced technologies in perception, path planning, and control systems to achieve robust and coordinated motion.