• First Paper Accepted

    We got our first paper accepted! Taylor and I will (along with Dr. Manchester) will be going to IROS 2019 in Macau, China to present our paper “ALTRO: A Fast Solver for Constrained Trajectory Optimization.” Hopefully the first of several more to come.


  • Masters Graduation

    I got my Master’s Degree in Mechanical Engineering from Stanford University! It feels like less of an accomplishment than it actually is given I still have another 3-4 years left at Stanford and I work on my Doctorate degree. Still, it has been a great past 2 years. I’ve learned...


  • Constrained iLQR Tutorial

    A lot of my recent work has been focused on methods for speeding up methods for trajectory optimization. Based off of my recent paper that was accepted to IROS 2019 and some other work, I’ve put together a tutorial/walkthrough of ALTRO and augmented Lagrangian iLQR (AL-iLQR). Hope this proves helpful...


  • Experimental Robotics

    Sometimes robots just don’t work the way you’d like them to. In Spring Quarter 2019 I worked with a group of students from my lab to develop the Doggo robot as a research platform. The Doggo robot is a fairly impressive robot built by a team of undergraduate students here...


  • Multi-robot control with ADMM

    For my class project for AA277 Multi-robot Control with Dr. Mac Schwager Taylor Howell and I extended the trajectory optimization solver we developed to solve a trajectory optimization problem for a team of quadrotors lifting a slung load using ADMM. The result was an algorithm with approximately constant complexity in...