Micro-gravity robot & bimanual platform
ROLE & KEY CONTRIBUTIONS
Mechanical design and simulation across two lab platforms — the ATMOS open-source release and the RRL M3 bimanipulation rig.
- Led the mechanical review and structural rebuild for the ATMOS open-source release, improving reliability and manufacturability of the published designs;
- Restructured the RRL M3 bimanipulation platform for a cleaner, more robust mechanical layout;
- Built MuJoCo workspace-analysis simulations to validate reach and configuration.
Overview
At NYU's Riviere Robot Lab I work on two platforms: ATMOS, a micro-gravity robot being prepared for open-source release, and the RRL M3 bimanipulation platform. My focus is making research hardware reliable and reproducible — the difference between a robot that works once in the lab and a design another team can actually build.
My contributions
- Led the mechanical review and restructuring for the ATMOS open-source release, improving structural reliability and manufacturability of the released design.
- Restructured the RRL M3 bimanipulation platform's mechanical stack for stiffness and serviceability.
- Built MuJoCo simulations for humanoid-robot validation and workspace analysis of bimanual manipulation tasks, closing the loop between CAD and simulation before committing to hardware.
Related: RL experiments on this platform are described in
Reinforcement learning for manipulation.