python

As part of a project with two other robotics students, I explored kinematic path planning for a manipulator with uncertainty in the actuators. This amounted to generating an uncertainty metric (the covariance of the actuators) in the joint space, which was then projected into the task space to act as a heuristic for path planning.

For my undergraduate capstone, I explore signal processing and audio compression with a group of peers. The project expanded my understanding of the Fourier transform in its many forms, especially where it applies to human-audible sounds.