Inventing Robot Grippers and Manipulators via Computational Design.
I am a PhD candidate at the University of Notre Dame researching kinematic design of linkages for robot gripper and manipulators. My research projects over the past 5+ years have involved tasks from computational design to fabrication and experimentation for proving the hypothesis. My portfolio below summarizes my recent research projects of my PhD since 2022.
Featured Projects
Direct-Drive Mode-Switching Gripper
Overcoming the trade-off between force sensing and grasping in proprioceptive grippers via velocity ellipse synthesis.
High Payload Manipulator
A novel direct-drive five-bar manipulator designed to carry up to 3 kg payload consuming 8x lower power compared to a conventional manipulator
Simple Compliant Gripper
A simple compliant gripper that reconfigures to sense, estimate ripeness and pluck small fruits solely using a single brushless DC motor.