Research
Teaching
Design
Videos

Who am I?

  • PhD candidate - I will definitely finish before 2042.
  • Dynamics teacher - Most of my students didn't hate me.
  • Image designer - A picture is worth a thousand words, and I don't want to write thousands of words.
  • Video maker - 30 images per second, you do the math (see above).

Projects

PhD Project

What am I doing?

In the first major part of my thesis, I looked at how to use the dynamics of a robot to enable it to lift heavy objects. The idea is that sometimes, robots are not strong enough to lift a heavy object through shear brute force. In such cases I showed that, if we have the robot move a little more intelligently, we can greatly increase its capacity. These results were validated on a simple robot prototype I designed.

In the second major part of my PhD, I am exploring methods of using robot kinematics, dynamics and trajectory optimization to throw objects. The first goal is to throw objects the furthest possible and the next part will be to hit a precise target.

During my PhD work, I also got the opportunity to teach the Rigid Body Dynamics course at the undergraduate level. With 160 students, this was a trial by fire exercise that I thoroughly enjoyed and that confirmed my passion for learning and teaching.

Finaly, I had an undergraduate intern work with me to explore a few different avenues that I would not have had time to dive into on my own. This project, over two summers and part time durring one year, helped hone my project management skills and structure my PhD project a little better.

Accomplishements

  • 1 conference paper
  • 2 journal papers
  • Taught 1 undergrad course
  • Supervised 2 internships
  • Experimental validation

Skills

  • Robot kinematics and dynamics
  • Numerical optimisation
  • Thechnical writing
  • Real-time control
  • Matlab
  • Python
  • C/C++

Research project - humanoid robot

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What was I doing?

Before starting my PhD, I worked as a researcher in France. The project involved working on the locomotion of a humanoid robot (not The Terminator). This robot (Tidom) with a total of 12 joints in both of its legs is about the size of a four year old child.

My work was to build the control algorithm from the ground up to control all 12 motors synchronously to allow other researchers to implement their experiments on the robot. To do this, I designed a C program on a PLC to communicate with and command all the microcontrollers in each joint using CANopen communication. CANopen is a communication standard that is built upon CAN, and since the PLC we used only had CAN libraries, I built my own implementation of CANopen to be able to speak with the joint controllers.

Accomplishements

  • Built a fully operational motion framework
  • Coordinated 12 motor control
  • Experimental validation

Skills

  • C/C++
  • PLC programming
  • CAN / CANopen communication standards
  • Real time control
  • Motor control and tuning

Master's Project

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What am I doing?

My master's project

Accomplishements

  • 3 journal papers
  • 3 conference papers

Skills

  • MATLAB
  • Robot kinematics and dynamics
  • Thechnical writing