MAGIC: Manipulation for Automated Geometric Inspection and Construction
Architected a ROS2-driven dual-arm system that reorients WAAM parts for full-surface inspection, merging perception, motion planning, and reconstruction pipelines.
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Augmenting Learned Centroidal Controller with Adaptive Force Control
Integrated an L1 adaptive disturbance estimator with CAJUN’s centroidal policy to stabilize quadruped jumping despite payload shifts and inertia mismatch.