Flexible Multibody Dynamics

I’ve done a bit of work with flexible multibody dynamics.

  • First (and Second) Stage Landing Simulations
  • High Speed Stage Sep Mechanism Analysis
  • Reusable Composite Payload Fairing Trade Studies


Globescan 2:

A lightweight, no expense spared 3D LIDAR:

I designed the enclosure for this guy.

This scanner lived on a couple different platforms:

Riverine (Octarotor)



g2 is now a product of Near Earth Autonomy.

Soft Robots

The Humanoids Lab and the Quality of Life Technologies group and Carnegie Mellon formed a project whose goal was to create an inherently safe robot that was able to do useful work.

This work was presented at the EBMC 2011 conference with the paper, Physical Human Interaction for an Inflatable Manipulator


Some still shots of the arm:

A video of this guy wiping Sid’s face in the lab:

Here’s a video from CES:




Mobile Robot. Pretty clever.

Jitu Das, Harrison Rose, and I put together a robot our freshman year to compete in the annual Mobot Races held during Spring Carnival at Carnegie Mellon.

Mobot Render
Mobot Render

It used an array of a bunch of line sensors to figure out where it was relative to the line on the sidewalk. We came in 4th overall in the competition.


HyLo, a series of projects about Hybrid Locomotion. A pair of platforms were developed to explore the a couple concepts for locomoting.hylo_shadow cropped
Monkeybot is a minimally actuated, energy efficient swinging robot designed for highly dynamic, 2D trajectories across monkey bars.

Stairbot is a quadropedal robot outfitted with 5DOF jointed legs and motorized wheels.

Rockets, Robots, Racecar, R&R