Work

Disney Research Lab
I am currently working at the new Disney Research Lab at CMU. We are currently working on the computer control of a fleet of R/C cars.

MABEL [link]
I helped with MABEL, the biped version of Thumper at Professor Jessy Grizzle’s laboratory at the University of Michigan.

Electric Cable Differential Leg (Thumper) [link]
I wrote software for Thumper, an all-electric cable drive monopod robot with springs for energy storage. We managed to get a Raibert style controller running and had the robot hop around in a circle.

There is another robot, MABEL, at the University of Michigan in Ann Arbor. Mabel is a biped (two of the monopod legs bolted next to each other) and should be able to walk in addition to running and jumping.

Finding Graphical Isomorphism with Genetic Algorithms
This project involved calculating the isomorphic mappings between two graphs using an genetic algorithm approach. The final algorithm (in C) was able to find ismorphic mapping on graphs up to 120 vertices. However we found a strong local maximum effect, which could be a problem with our fitness evaluation function and our crossover method (which used swaps permutation cycles).