I am passionate about the application of novel simulation technologies to the solution of real life problems. Currently, I am a researcher at the Toyota Research Institute (TRI) in Cambridge, MA. As a developer of the open-source robotics toolbox Drake, I actively work on our simulation capabilities for multibody dynamics problems with contact and friction.

My current research interests include; models and numerical strategies for contact problems with friction, the modeling and control of soft robotics systems, and the development of touch sensing technologies.

Previously, at Iowa Institute of Hydraulic Research (IIHR) in Iowa City, I worked in the area of multiphase flows developing Computational Fluid Dynamics (CFD) tools for simulation.