Robotics Control Engineer at Sanctuary AI


Amin and Phoenix

As a Robotics Control Engineer atSanctuary AI, I have been involved in the design and development of Phoenix, the general-purpose humanoid robot at Sanctuary AI.

Here are some of roles and responsibilities I have taken on:

  • Designed and developed Robodrake, the whole-body controller of Phoenix
  • Led the automatic creation, development, and deployment of digital robot embodiments reducing the time to URDF by18times
  • Designed a real-time dynamics and simulation engine for Phoenix based on Drake C++
  • Optimized the Phoenix controller for low-latency performance running at a1 KHzwithsub-µsjitter
  • Developed the RTI DDS communication layer for the Phoenix Hand Controller
  • Implemented the operation logic and real-time deployment of the Phoenix Hand Controller
  • Integrated Robodrake with trajectories and tracking modes of Carbon (Phoenix AI)
  • Designed the real-time continuous Inverse Kinematics Trajectory Planner used in Robodrake
  • Created Granular to optimize package generation for digital robot embodiments reducing delivery time from15minto1s
  • Built scalable processes around software building, packaging, Docker containerization, and CI/CD
  • Conducted pragmatic test of the body/hand controllers and the nervous system on Phoenix