A short list of things I have built, am building, or am currently taking apart.
A Tendon-Driven Biomimetic Hand in MuJoCo
Simulation-first study of a tendon-driven anthropomorphic hand: routing, transmission, and joint-space control.
Projects
Selected work in tendon-driven robotics, simulation, and embodied intelligence.
Tendon Routing: Statics, Friction, and Moment Arms
Working notes on how a cable’s path through a hand changes the force a joint actually sees.
Vision-Language-Action Models: Reading Notes
Notes from reading VLA work, with an eye on what it assumes about the robot body underneath.