Experience

Berkshire Grey
• United States
• Robot Manufacturing
• 200 - 300 Employee
• Senior Robotics Software Engineer

  • Dec 2019 - Present


University of Pennsylvania

• United States
• Higher Education
• 700 & Above Employee

• Ph. D. Candidate, Research Scientist, Design Engineer

  • Aug 2009 - Dec 2019

  Work Compilation: http://youtu.be/Psv5fGndN58

• Automated Mechanical Acceptance Validation for Connectors Project

  • Oct 2018 - Jun 2019

  • Designed, built, tested, and ran mechanisms to confirm the acceptance characteristics of passive mechanical connectors to ensure optimal docking fits and high alignment capabilities.• Programmed the Sawyer robot to reliably perform required end-effector motions, wrote a robotic operating system package, launched files, and interfaced with MoveIt! software and Sawyer hardware.

• Mechanical Acceptance for Modular Robotic Connectors Project

  • Jan 2012 - May 2019

  • Designed 2D and 3D mechanical passive modular connectors for modular robots, which included the development of new geometries, latching mechanisms, and metrics. • Constructed a simulation environment for mechanical interactions of rigid bodies in Matlab. • Created an original connector design in 2D and 3D, adapted existing designs, which resulted in a 467% increase to error tolerance in connectors

• NSF CRI Humanoid Robot Design and Construction Project

  • Jun 2016 - Mar 2018

  • Designed and constructed a prototype arm to realize a low-cost platform and support human robot interaction research, which enabled human-like motion at costs $5K lower than industry averages without visible electronics and increased the versatility of design.

• Spiral Zipper Arm Mechanism Project

  • Feb 2014 - Dec 2015

  • Consulted and supervised two undergraduate workers on design revisions and the manufacturing of multiple iterations of a novel prismatic joint mechanism for a robotic arm and delivered application support, which reduced material and labor costs by $100 per device.

• Tactically Expandable Maritime Platform (DARPA TEMP)

  • Aug 2012 - Jun 2014

  • Planned, developed, tested, and oversaw implementation of computer vision tracking for 20+ modular boats via a networked system (ROS) as part of a 12-person team.

• NSF Factory Floor Project

  • Sep 2010 - Aug 2012

  • Conceived, planned, programmed and integrated a computer vision calibration and manipulation algorithm for modular robotic Factory Floor project in coordination with three institutions, which resulted in a robust construction procedure and scalable modular system to build parts.

• Teleoperation Interface – Razer Hydra Project

  • Sep 2011 - Mar 2012

  • Created a viable proof-of-concept teleoperation user interface to enable full-body and dual arm teleoperation of the PR2 robot, which included gathering data from the Razer Hydra 6DOF joystick and the UDP transmission of data.

• Spring-Cable Gravity Compensated Modular Robotic Arm Project

  • Aug 2009 - Mar 2011

  • Created and constructed new designs for modular spring-cable gravity compensated robotic arms, which increased strength and lifting capacity by 60 lbs.



Rice University

• Higher Education
• 1 - 100 Employee

• Research Associate, MAHI Lab (Haptics)

  • Oct 2008 - Aug 2009

  • Developed interfaces to retrieve data from a commercial motion controller for the study of a potential haptics and motion capture platform over $1K lower in cost than typical large systems.

• Research Associate, Computational and Applied Mathematics

  • Sep 2006 - Sep 2008

  • Conducted signal processing, image processing, and optimization research, which resulted in improvements to image retention.