Hello there.

I am a postdoc in the Robot Locomotion Group in CSAIL working with Russ Tedrake. I am also the Planning and Control Lead for the MIT DARPA Robotics Challenge team.


My research is about increasing the efficiency, robustness, and versatility of highly dynamic and underactuated robots. I design algorithms that exploit convexity, sparsity, or statistical structure to solve optimal planning and control problems and improve the capabilities of complex physical systems. My work has been implemented on a variety of amazing robots including the Boston Dynamics Atlas, the uBot-5, and NASA's Robonaut 2.


For more information, please check out some of my publications or download my CV.

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