Killian Embler

10 DOF lower limb exoskeleton exploring comprehensive human-robot control interfaces via reinforcement learning trained on a high-fidelity human model. In terms of mechanical systems, I have been responsible for URDF modeling of all 10 DOF, multi-material footplate design and assembly, and the design and analysis via FEA of several other mechanical components such as hard stops for the knee joints. I worked on the full rewiring process which allowed the exoskeleton to operate under battery power and designed a custom PCB with dual E-Stop system for user safety. I have experience tuning the exoskeleton to successfully assist a real user in squatting and sit-to-stand motion via an impedance controller run in ROS2. The project has begun to implement the reinforcement learning based controllers with IMU feedback but has yet to test it with a real user.

2 DOF hip exoskeleton designed as an accessible machine learning testbed for studying metabolic cost reduction in walking. As undergraduate project lead, I directed the complete mechanical redesign from the LECTER framework, including FEA validation of key structural components, hip-width adjustability for improved user variability and comfort, and full URDF modeling. The exoskeleton serves as a simplified platform for developing and validating reinforcement learning-based controllers before deploying those techniques to more complex systems like LECTER.

Fully open-source, primarily 3D printed quadruped robot designed as a low-cost and highly modular teaching platform. The primarily 3D printed parts allow changes to be made to nearly any part of the quadruped quickly and at low cost, while the design centered around central pieces of aluminum extrusion allow even complete reconstructions to happen quickly and without wasted effort. I was responsible for redesigning the electrical box and midsection for compactness, developing the URDF model, as well as the design and manufacturing of precision joint jigs with tight tolerances to ensure consistent zeroing when operating a walking controller. Alongside this, I produced a LiDAR scanner mount and other auxiliary components.

3 DOF robotic arm designed to integrate with OpenMutt, expanding manipulation capability while retaining the platform's open-source and largely 3D printable design philosophy. I led the initial mechanical design and URDF creation, and collaborated on the assembly and maintenance of the arm's 3D printed cycloidal gearboxes - chosen for their high gear reduction and torque density - as well as the overall structural assembly.

Design and development of a thrust-vector-controlled rocket serving as a hardware and systems testbed for Embler Control Systems flight computers. Integrates embedded control systems with a gimbal mechanism for directional thrust management, allowing real-world validation of flight computer firmware, sensor integration, and actuator outputs. I was directly responsible for the complete mechanical design of the gimbal system, in-development automatic parachute deployment system, and internal architecture – a unified lightweight chassis which can be removed in a single piece - for easy redesign and maintenance. I was additionally responsible for the creation of a significant portion of the PCB, electrical, and software systems while organizing the efforts and contributions of my team members.

Fully integrated flight computer PCB developed for Embler Control Systems, featuring an internal MCU and all supporting architecture on a single board - moving beyond the standard approach of pairing a breakout PCB with an off-the-shelf development board, which we had previously implemented in our early version designs. I personally designed the PCB, developed multiple prior hardware iterations, and wrote a large portion of the current firmware. The fully integrated version is still in physical production and yet to be flown, but the previous rendition has already undergone several successful tests, both on the ground and in flight. Once the newest version is assembled, development will move directly into flight testing and OS development for automatic sensor integration.

Custom actuator testbed to analyze the torque transmission and mechanical energy efficiencies under various load conditions. It serves to determine stall torque, nominal torque, torque transmission efficiency, and mechanical energy efficiency via the recording of output of the DYN-210 dynamometer and motor controller outputs while experiencing a static or dynamic load on the output shaft. My role in this project was in the initial mechanical design of the test bed, the setup of a microcontroller with adequate voltage dividers and pullup resistors to receive the output signals of the sensor, and the formulation of an experimental procedure around evaluating the capabilities of a custom gearbox. I additionally performed all the required signal interpretation and analysis via Arduino code, Excel, and MATLAB.