Griffin Addison
this website is under construction!
(please excuse its appearance)
resume linkedin github
griffin at alumni dot upenn dot edu
2024
Vivodyne - Robotics Engineerreinforcement learning via ppo: learning to walk
from-scratch implementation of proximal policy optimization w/ python, numpy, & pytorch in OpenAI Gym, MuJoCo
code
whole-body controller
dynamics-aware control of quadruped in C++, Eigen, MuJoCo
poster •
video •
code
unscented kalman filter in python
from-scratch implementation of the unscented Kalman Filter on a 6-dof system w/ Python3, Numpy
code
dynamic origami quadruped (doq): design & control
full-stack kinematic and mechatronic design, C++ controls
★ ICRA 2023 Workshop
paper (coming soon)
autonomous racing: pure pursuit in ROS2
implementation of pure-pursuit planning & control for an RC car in C++, ROS2, Gazebo, RVIZ2
video •
code
automatic emergency braking from LiDAR scans in ROS2
ROS2 node that calcualtes time-to-collision based on raw LiDAR data, decides whether to halt
video •
code (private)
2023
Lucid Motors - Traction Control Software for the Airmultithreaded rendering & terrain generation
efficient real-time terrain generation in C++ w/ OpenGL and std::thread
code (private)
lightweight linear algebra library in C++
simple, speed-focused linear algebra library for interfacing with OpenGL
code (private)
half-edge C++ pointer mesh data structure
half-edge mesh data structure for efficient rendering w/ C++ raw, unique ptrs
code (private)
desktop graphical GUI application
written in QT & OpenGL for C++
code (private)
2022
Tesla - Battery Design for the CybertruckSuspension Lead @ Penn Electric Racing (FSAE)
design, manufacture, and testing of formula-style suspension
★ Design Finalist, 22/25 Score