Research Assistantship — CyPhi Lab

As a Research Assistant at the Cybernetics and Physical Intelligence Laboratory (CyPhi Lab) under the Human Fusions Institute at Case Western Reserve University, I focused on bridging the gap between physical and virtual robotic control. Working with a hyper-redundant, cable-driven robotic tentacle arm, I developed real-time position estimation and control pipelines to improve tracking precision and reliability for next-generation soft robotic systems.

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What I worked on

Engineered position-estimation and control systems for a hyper-redundant, cable-driven robotic tentacle arm using Dynamixel smart actuators.
Developed automated Python scripts within VS Code to optimize the robotic homing process and accurately parameterize cable-position constraints.
Synchronized physical arm movements with a virtual environment in real time, utilizing MuJoCo (Google DeepMind's advanced physics simulator) to perfectly mirror physical actions using torque controls.
Fused motion-capture ground truth and cable-length data through an Extended Kalman Filter (EKF) and initiated the deployment of embedded bend sensors for high-precision, infrastructure-independent orientation tracking.

Photo Gallery

Demo videos

Motion Control Demo

Live IR Marker Tracking in MuJoCo