Research

2017 Path Planning in Large Point Clouds
Finding a path for a flying robot (drone) through very large pointcloud datasets.
This work was undertaken at CMU (Carnegie Mellon University).
2016 Bin Picking
Autonomous grasping of mixed objects from inside tote containers.
This work was undertaken at Kinema Systems.
2016 Task-space Motion Planning
Planning task-space (cartesian) trajectories for robot manipulator and object manipulation.
This work was undertaken at CMU (Carnegie Mellon University).
2015 DARPA Robotics Challenge
Object grasping and manipulation using a mobile manipulator robot.
This work was undertaken at NREC (National Robotics Engineering Center) and CMU (Carnegie Mellon University).
2013 Humanoid Robotics
Implementation of a walking pattern generator using Model-Predictive Control, for a full-sized humanoid robot.
This work was undertaken at the University of Queensland.
2013 Humanoid Robotics
Testing real-time control software and repairing humanoid robots.
This work was undertaken at the A*STAR Center for Infocomm Research.
2013 Autonomous grasping using point clouds
Object pose detection and grasping, using minimum-bounding boxes from object point cloud data.
This work was undertaken at PAL Robotics.
2012 Humanoid Robotics
Developed Linux-based real-time control software, real-time CAN driver, motion planning for 6DOF manipulator, created simulation models of 6DOF manipulator and humanoid robot.
This work was undertaken at the Humanoid Robot Research Center (“HUBO Lab”) at KAIST.
2010
Robots and Language
Should robots communicate in a human-like manner, or should communication be free of ambiguity?
A research placement with the “Lingodroids” group at the University of Queensland.