I headed the lab bring-up of Franka Research 3 arms, and wrote a library used lab-wide to improve functionality of depth cameras, robotic arms, motion capture systems, and other lab equipment. I implemented real-time velocity and position trajectory with online minimum-jerk trajectory generation and am currently working on implementing a torque controller. I also designed the lab intranet and infrastructure to securely allow lab access remotely and wrote custom containerization solutions as part of high performance computing infrastructure used lab-wide by using Docker and bash to streamline the bring-up process for new projects involving our Franka arms.
Additionally, I worked on writing a real-time point cloud aggregation and transformation library for use in the lab which uses multiple Intel Realsense D435i cameras to generate a hi-res point cloud of the target area. I used this in a real-time obstacle avoidance algorithim with SIMD-generated point clouds using VAMP, Ruckig, and Realsense cameras to demo at Purdue Research Expo.