teaching

ME646 — Robot Devices, Kinematics, Dynamics, and Control

Teaching Assistant in Fall 25 @ Hopkins

Topics include properties of rotation and transformation, exponential coordinates for rigid motion, twists and screws, introduction to Lie group and Lie algebra, rigid body velocity, screw coordinates for velocity and wrench, forward/inverse kinematics, the Jacobian, geometric singularities and manipulability, Lagrange’s equations and dynamics, and an introduction of control and stability theory. Textbook: A Mathematical Introduction to Robotic Manipulation (Murray–Li–Sastry).

CS663 — Algorithms for Sensor-Based Robotics

Course Tutor in Spring 26 @ Hopkins

Topics include forward and inverse kinematics, hand-eye calibration, potential fields, graph-based path planning, sampling-based path planning, Kalman and Extended Kalman filters, and Bayesian and particle filtering for localization and mapping.