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Sequora: lead design of BrainChip's third-generation processor, optimized to run LLMs and state-space models. Functional simulator for the custom ISA, modeling energy and latency costs across competing architectural configurations.
Radar signal processing running on commercial neuromorphic hardware, under an AFRL program with Raytheon. TENNS state-space technology, taken from research into shipping silicon.
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Cheetah hind limb: high-speed legged embodiment for DARPA M3 at HRL. Biarticulate muscle function and power generation in quadrupeds. Neurorobotic biped built on principles of human neuromuscular architecture. IEEE ICRA 2012.
Zeroth neuromorphic processor at Qualcomm. MIT Technology Review named Qualcomm #18 of its 50 Smartest Companies on the strength of this work.
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Spiking neuron chip for control of robots and live animal preparations, with JHU, Northwestern and UMD. Interfaced to animal spinal cord in lab preparation. Best vision paper finalist. Series of biped test beds. Color-based object recognition chip. Colorstick, an assistive device for the colorblind. Ultrasound localization system for virtual reality in the film industry.
Biarticulate muscle robots. Biarticular muscle transfers power from hip to ankle and vice versa, a novel energy transmission system.
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50-DOF anthropomorphic hand and force-reflecting exoskeleton at JPL. DSP-based distributed controller, closed loop at 1 kHz. NASA New Technology Award. Series of autonomous helicopters, gas-powered and fully electric. Led the USC autonomous flying vehicle project, first place at the AUVS competition in 1994, with the work transferred to JPL. Formation-flying testbed at UIUC under a NASA SBIR award: omnidirectional ground robots simulating satellites. Part of the AI group at the Beckman Institute. Cooperative robotics testbed at UCLA, with a simulation system for multi-robot coordination, where Virtual Structures was developed.
Rodney, a six-legged robot built for the genetic algorithm gait experiments. Four-legged robot with SCARA-type legs to minimize energy use. Insect-vision navigation robot using optic flow; NIPS plenary presentation.
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Snake-like hyper-redundant manipulator. Complete design from the ground up including cable drive, positioning of miniature gear boxes and optical encoders in each link. Co-developed a process that increased Kevlar cable life 100,000x, making them abrasion resistant. Collaborated with UCSB on 3-D object recognition software. Computer vision for solder joint inspection OCR, part of a DoD factory automation system. Leveraged parallel SIMD computing.
SCARA-type articulated robot for HIV testing. Mechanical design and embedded software.