Emmanuel Akita

Graduate Research Assistant @Cockrell School Of Engineering, The University Of Texas At Austin

Dissertation: Toward Modular Supervised Autonomy for Remote, Contact-Rich Robotic Manipulation- Designed task-based situational awareness tools for dual-arm mobile manipulators- Developed algorithms to improve task awareness and contact execution using wrench-based planning- Designed motion planners for contact tasks that exceed the manipulator\'s dexterous workspace- Used screw-theoretic primitives to infer operator intent and validate robot actions under uncertainty.Key Projects & Contributions- Developed a twist-based hybrid Force-Motion Controller for PickNik Robotics/Space Force- Implemented Admittance Control in MoveIt Pro for PickNik Robotics/Space Force- Developed custom, hardware-agnostic force-controller, and robot reconfiguration software for grinding and laser-cutting applications for Argonne National Laboratory- Supported full-stack robotics software development efforts for Woodside Energy- Supported the integration efforts for TeMoto, a human-robot collaboration framework for Supervised Autonomy.