Robotics
Projects
This page contains a variety of robotics projects developed in classes, research and hackathons.
PHINeas curling bot
This is my team's curling robot built over 4 weeks in ME210 - Intro to Mechatronics at Stanford. It features autonomous navigation based on closed loop controls with ultrasonic sensors, IR, 'tape' sensing. Robot delivers pucks via motorized conveyor belt and metal laser cut ramp. I worked on the mechanical design, assembly and controls (software). Class culminated in a curling competition where we placed 2nd out of 20.
Swish Robotics
During my 13 week internship at Swish Robotics I worked on our first product: a household cooking robot. I developed prototype VLA system for autonomous cooking using OpenAI and second 'light' version of the robot.
Haptica - CHARM Lab
I joined the CHARM lab at Stanford under Prof. Allison Okamura and PhD Cosima du Pasquier where I worked on developing UI system for Haptica. Haptica is a novel pneumatic tactile sensing system used for teleoperation and data collection.
BaristaBot
In CS225A Experimental Robotics at Stanford we built a BaristaBot, preparing beverages by pouring different ingredients, delivering cup and writing label with order name. We used a Stretch robot by Hello Robot.
Object Manipulation
In ME314 at Stanford (Robotic Dexterity) we worked with an Xarm 7 DoF robot with custom gripper to manipulate 4 different objects: pick and place a cube; peg in hole; pick and place a coin; pick and place a flat dollar bill.
Llama Bagger
This project featured a simple VLA system using Llama to control a Stretch robot. The robot was presented with a bag of items and tasked with packing them in different bags based on their nature (ex. fruits in one bag, non-food items in another). We used Llama for scene understanding and reasoning, object selection, while controls were built in Stretch python SDK.
