double-arrowResearch Areas

Real Time Robotic Motion Planning

  • Hardware accelerated real-time robot motion planning on a configurable parallel computing chip

  • Community-based open source development platforms for extremely fast robot optimization and simulation

Intelligent and Adaptive Feedback Control Theory for Robotics

  • Multivariate adaptive feedback control policy design using deep reinforcement learning

  • Adaptive optimal control learning by computationally efficient trajectory optimization

  • Stochastic verification of the robustness and stability of learning-based control policies

Assistive Robotic Technology for Medical Assistive and Rehabilitation Devices

  • Enhanced mobility for the elderly and people with paraplegia using a powered lower-limb exoskeleton

  • Clinical study of a powered lower-limb exoskeleton for people with paraplegia: energy efficiency, user comfort, augmented rehabilitation, and safety

  • Decentralized feedback control design for interactive human-exoskeleton systems

Advanced Legged Locomotion

  • Networked control design for coordinated locomotion and manipulation of home assistant humanoids

  • Autonomous visual navigation of legged robots in the complex real-world environment

Robot rendering
If you look at the field of robotics today, you can say robots have been in the deepest oceans, they've been to Mars, you know? They've been all these places, but they're just now starting to come into your living room. Your living room is the final frontier for robots.
– Cynthia Breazeal

My research interests lie at the intersection of nonlinear control and optimization theory, with a particular focus on developing novel control solutions for complex robotic systems. The central objective of my research is to develop computationally tractable optimization-based control methodologies that unify formal control theory with advanced numerical optimization techniques and, ultimately, to realize versatile and dynamic maneuvers experimentally on a variety of robotic platforms including home assistant robots and robotic exoskeletons. 

double-arrowDirector