Projects
Four mechanisms, from concept sketch to working hardware. Each entry below links to the full build — design decisions, hardware, and what broke along the way.
Adaptive Fin-Ray Gripper
moteus-c1 R1.2 · CAN-FD · mj5208A compliant, self-conforming end effector built around a CAN-FD servo controller and a from-scratch actuation pipeline. Graduate coursework, BU Gardner Lab.
Read the build → PRJ-02Fruit-Picking Robotic Arm
6-JOINT · CNC AL 6061 · BOSTON ROBOTICS CLUBMachined and assembled the arm structure; designed the fin-ray end effector. Took 1st place and the Audience Appreciation Award at Mass Robotics Form & Function 2026.
Read the build → PRJ-03SMOC Thermal Regulator
ESP32-S3 · DUAL-ZONE · SMOC CONTROLA dual-zone heater platform controlling temperature with Shell Multivariable Optimizing Control, identified from PRBS test data and grounded in the original 1977 LAG literature.
Read the build → PRJ-04Rotary Vane Pump
POSITIVE DISPLACEMENT · DESIGN + FABA positive-displacement pump designed from first principles — eccentric rotor, sliding vanes, and a machined housing.
Read the build →