Projects

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and accessibility across research and hobbyist communities. Building upon the GelSlim 3.0 sensor, our design features two key improvements: a simplified, modifiable finger structure and easily manufacturable lenses. To complement the hardware, we provide an open-source perception library that includes depth and shear field estimation algorithms to enable in-hand pose estimation, slip detection, and other manipulation tasks. Our sensor is accompanied by comprehensive manufacturing documentation, ensuring the design can be readily produced by users with varying levels of expertise. We validate the sensor’s reproducibility through extensive human usability testing.

This work, published in RSS 2023 and a Best Student Paper Finalist, proposes a method to address the problem of reducing in-pose uncertainty through a sequence of frictional contact interactions between two grasped objects in a bimanual robot system.

This work, published in CoRL 2022, utilizes a self- and cross-attention mechanism to extend the Visual Transformer architecture to tactile inputs for 4 simulated and 1 real-world manipulation tasks.

This work, published in IROS 2022, leverages particle filtering to estimate contact location and object pose on real-world single and dual-arm robotic systems.

I designed and manufactured carbon fiber racing vehicles on a student team at Carnegie Mellon University. During my time on the team I served as the Chairwoman, as a push captain, and as an A-team pusher on all eligible racedays. This team gave me incredible leadership experience as well as hands-on design and fabrication skills.

Followed systems engineering and design principles to design a multi-robot system for collecting trash in buildings. Finished building, testing, and evaluation remotely due to COVID-19.

Developed controllers and trajectory followers using forward and inverse kinematics to mimic the classic "Operation" game for 5-DOF robots made with Hebi actuators.

Under the supervision of Gerret Lukas, designed and prototyped a sliding cam tool for additively-manufactured injection molding tools at RWTH Aachen University.

Competed with other teams to develop a lightweight gripper for a fixed mount that would hold an irregular object in a rigid grasp for the duration of several dynamic swings.

Under the supervision of Dr. Chou Hung, Dr. Paul Fedele, and Jason Pusey, developed robot hardware into an experimental testbed to investigate how tactile feedback guides a robot's interaction with unknown objects at U.S. Army Research Labs.

Worked with Professor Red Whittaker and a team of students to design and prototype the body of a small rover for integration with the mechanical subsystem. Presented our work during the final design review to industry and academic professionals.

Worked with Professor Red Whittaker and a team of researchers to fabricate small robots to investigate air channels in the bases of nuclear waste storage tanks. I fabricated several design iterations of the small robot body.