I work at the Open Source Robotics Foundation (ORSF) in Mountain View, California, designing open-source software, firmware, and electronics. Here is my CV.
Current projects include:
- ROS: I was one of the original authors of the Robot Operating System (ROS) way back when (circa 2006-2008). OSRF is the steward of ROS, and works in collaboration with thousands of contributors across the globe to continually improve and maintain the system. I'm currently working to improve the security of ROS applications using SSL. In addition, many of us at OSRF are working on ROS2, a complete rewrite of ROS, in which we are making many improvements, including embedded portability and real-time safety, among many other topics. Much more information is available on the ROS2 design website.
Before OSRF, I received a PhD under the advisement of Professor Andrew Ng in the Stanford Artificial Intelligence Laboratory.
Recent projects include:
- Sandia STEPPR and WANDRR robots: In collaboration with Sandia National Laboratories and several others at OSRF and elsewhere, I designed the electrical systems and firmware for the Sandia STEPPR and WANDRR high-efficiency biped robots, supported by the DARPA M3 program. The program goal was to create human-size walking machines that required dramatically less power than prior generations of bipedal robots. We demonstrated WANDRR at the 2015 DARPA Robotics Challenge (DRC), where it walked for 4 hours on a single battery charge (plus another hour of standing around), covering 2.8 kilometers with an average power consumption in the 450-watt range (including all onboard electronics, computers, etc.). A visitor to the demo took a nice video of the robot walking on its treadmill.
- Sandia Hand: The Sandia Hand is a sensor-rich, high-DOF robotic hand. I designed and implemented its electronics (14 microcontrollers, an FPGA, 12 brushless motor drivers, a stereo camera pair, 100 tactile sensors, 13 inertial units, 4 strain gages, etc.), and its firmware and software, which are fully open source. Here is a video of the hand being teleoperated. A later version of the hand made its way onto several robots in the 2013 DARPA Robotics Challenge. This video of Lockheed Martin's TROOPER shows some footage of the hand on an ATLAS robot from Boston Dynamics.
I do not participate in proprietary social networks.