Hello there.

I am a Postdoc in the Robot Locomotion Group in CSAIL working with Russ Tedrake. I also lead the control and planning effort for the MIT DARPA Robotics Challenge team.

My mission is to make robots move fluidly and dynamically by advancing the state of the art in optimization-based control. My current research is focused on developing robust and efficient control algorithms for dynamic locomotion and whole-body manipulation in humanoids. I have had the pleasure of working with a variety of amazing robots including uBot, Robonaut 2, and Atlas. For more information, please check out some of my publications or download my CV.