Griffin Addison

Hello! I want a robot friend; trying to make it happen.

I am a Roboticist at the Boston Dynamics AI Institute, enabling Spot to move more naturally (and dance!) with reinforcement learning and real-time control.

Previously, I was a Researcher at Kod*Lab, where I designed and wrote whole-body control for an origami quarduped!


resume     linkedin     github    

griffin at alumni dot upenn dot edu

project highlights:
Boston Dynamics AI Institute Roboticist
Kod*Lab @ GRASP Lab Modern Robotic Controls
Lucid Traction Control Software
Tesla Battery Design Protoyping
FSAE Suspension Lead

2025

Boston Dynamics AI Institute - Roboticist

2024

Vivodyne - Robotics Engineer

reinforcement 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 Air

multithreaded 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 Cybertruck

Suspension Lead @ Penn Electric Racing (FSAE)

design, manufacture, and testing of formula-style suspension

★ Design Finalist, 22/25 Score