Art Skills

This a research project funded by NSF involving human-robot collaboration in artistic endeavors. My involvement in the project includes:

• Human-generated trajectory representation and generation
  • Human-generated velocity modeling for robot motion trajectories
  • Trajectory parameter optimization using factor graphs and Levenberg-Marquardt optimization (GTSAM)
• Teleoperation of Franka Emika Panda for artistic endeavors
  • Impedance matching and control
  • Haptic bilateral teleoperation using a Novint Falcon haptic device
• Help with evaluation step of cable-driven parallel robot (CDPR) for GTGraffiti project
  • Paper accepted to ICRA 2022

I can share more details after the initial Arxiv publication. We are planning to submit to IROS in March!