Research

Projects I've worked on at Georgia Tech, Caltech, and the NASA Jet Propulsion Lab

Deployable Anchoring Payload

Extreme Environment Robotics Group, NASA Jet Propulsion Laboratory

PI: Dr. Arash Kalantari, Dr. Joel Burdick

Responsible for design of an anchoring instrument payload system to be deployed from a UAV, including mechanism design, electromechanical integration, hardware demonstration on analogue surface in the lab

Handheld deployment test sequence

Poster presentation at the 18th International Planetary Probe Workshop:

Poster for the International Planetary Probe Workshop

Variable Diameter Wheel Mechanism

Dynamic Adaptive Robotic Technologies Lab, Georgia Tech

PI: Dr. Anirban Mazumdar

Led design of a high deployment ratio rimless wheel for adaptive wheeled mobility using bistable tape springs.

Presented poster with preliminary work at Georgia Tech Undergraduate Research Symposium.

Deployment test on prototype vehicle

Undergraduate Research Symposium Poster

Inverted Pendulum

Advanced Mechanical Bipedal Robotics Lab, Caltech Summer Undergraduate Research Fellowship

PI: Dr. Aaron Ames

Independent design, build, control, and demonstration of a robotic inverted pendulum on a cart testbed using a new linear brushless DC motor.

After designing the testbed and CNC machining the custom parts, I modeled the system in MATLAB, designed an LQR controller to stabilize it, and demonstrated it stabilizing on hardware.

Final stabilization demo:

Pendulum hardware I designed and machined

Andrew Galassi