Who am I?

I am a third year Ph.D. student in the Robotics Institute at Carnegie Mellon University who is co-advised by Sidd Srinivasa and Nancy Pollard. My research focuses on developing robotic manipulation algorithms that are robust to clutter and uncertainty. In particular, I am interested in using real-time sensor feedback—such as that provided by tactile sensors—to make closed-loop manipulation primitives that are robust to uncertainty.

I am a member of the Personal Robotics Lab and am currently collaborating with the Robonaut team at NASA's Johnson Space Center through my NSTRF fellowship. Previously, I was a member of the CMU/NREC team for the DARPA Autonomous Robotic Manipulation Software (ARM-S) competition. On the ARM-S project, I worked on using a bimanual robotic manipulator to complete complex, multi-stage tasks such as changing a tire or cutting a wire.

As an undergraduate, I double majored in Electrical and Computer Engineering and Computer Science at Rutgers University. I was heavily involved in Rutgers University's Vex Robotics Competition and Intelligent Ground Vehicle Competition teams through my leadership of the IEEE Student Branch.

HERB HERB
DARPA ARM-S Competition DARPA ARM-S Robot
DARPA ARM-S Competition Robonaut 2

Robotics Competitions

I have had the pleasure of being involved in several robotics competitions:

2010 Vex Robotics Competition 2010 Vex Team
2011 Intelligent Ground Vehicle Competition 2011 IGVC Team
2012 Intelligent Ground Vehicle Competition 2012 IGVC Team

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