Hi! My name's Jeremy Morgan, I'm a senior at Duke University
pursuing degrees in Electrical & Computer Engineering and Computer Science. I'm
interested in robotics and love rock climbing, yoga, photography
(now and then) and Rick and Morty.
I grew up in Berkeley, CA where I spent my time at first playing with legos, then building
and eventually hacking away on micro-controllers and hobby electronics.
Some of the projects i've most enjoyed working on include:
- A step sequence and full body motion planner
for the JPL Robosimian quadruped. The system enables stable, collision free motion
across obstacle filled environments (given a perfect world model),
- A walking controller for the JPL Robosimian quarduped
which allows users to move the robot with guaranteed stability and without collisions
across flat ground.
I'm currently working on applying invertible neural networks to
the Inverse Kinematics problem
in order to build a generative model capable of approximating
the solution space distribution of redundant kinematic systems.
Click on a project's title to view its writeup