Dual Quaternion Visual Servo Control

In this project, a dual quaternion-based estimation and control scheme for pose regulation based on visual feedback was developed. Conference Paper.

Fourier Based Shape Servoing

The goal of this project was to automatically deform flexible objects into desired configurations automatically using a robotic manipulator. Link to project.

Safety Aware Reinforcement Learning With Actor-Critic Barrier

The goal of this project was to implement a reinforcement learning approach for the imposition of barrier constraints on a state space. Link to project.