I am currently a Staff Robotics/AI Engineer at Figure AI in the San Francisco Bay Area. Over the past decade I have had the opportunity to work on numerous robotic platforms, creating algorithms and control methods in the pursuit of dynamic robotic locomotion. My focus is always on getting hardware-driven results.

 
 
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Cassie implementing CLF QPs onboard in real-time to perform crouching behaviors. This demonstrates the ability to translate theory to hardware in a provably ...
Dynamic walking with Cassie, from simulation to outdoor experiments, utilizing the full dynamics of the robot to generate the walking gait. This includes leverage the compliance, i.e., springs, to achieve the desired walking gaits. More details: http://arxiv.org/abs/1904.11104
Human-like walking on the humanoid robot DURUS. The robot displays the natural heel-strike and toe push-off behaviors that play a key role in human locomotio...