Robotic Testbed for Research on Dynamic Legged Locomotion on Yielding Terrain
Published:
I designed and built this robot leg to serve as an experimental testbed for the latter half of my doctoral research.
Portfolio
Fast(er) 3D Resistive Force Theory
Published:
This is a vectorized implementation of 3D resistive force theory (Agarwal et al., PNAS 2023) with support for custom intruder geometries.
Rigid-Body Mechanics on SE(3) with Impacts
Published:
This project uses a geometric integrator and event detection to simulate an American football tumbling and bouncing on a hard surface with friction.