Carson Kohlbrenner

I'm a Master's student with the Human Interaction & Robotics Group at the University of Colorado Boulder advised by Alessandro Roncone. My research interests lie in whole-body perception and learning for collaborative generalized robotics with a focus on tactile sensing and foundation models.

I completed my undergraduate degree in Aerospace Engineering with a minor in Computer Science at the University of Colorado Boulder. It was there where I first discovered my passion for robotics by developing autonomous drone and rocket motion planners.

When I'm not immersed in the world of robotics and research, you can find me enjoying a round of golf, producing music, or enjoying the outdoors. I am always interested in new opportunities and collaborations!

Email  /  CV  /  Google Scholar  /  Github  /  Medium  /  LinkedIn

Publications

A system for creating whole-body tactile skins that can be procedurally generated to adapt to arbitrary environments. All sensors are 3D printable and simulatable in Isaac Sim.

Near fingertip level accuracy for contact localization was achieved without locating internal sensors in a variable density tactile skin.

An explicit algorithm for localizing the position of capacitive sensors in a flexible, non-uniform sensor array.

Projects

A step-by-step guide to training vision transformers to recognize objects with tactile sensors using contrastive learning.

Deep Q-network, behavior cloning, and heuristic PID control methods for safely landing a rocket on a platform are implemented and compared.

An autonomous drone equipped with two cameras for tracking moving targets with computer vision. Targets were successfully localized within 2 meters RMS.

Satellite images of densely populated forests are used to plan waypoints for a quadcopter to fly through while avoiding obstacles. Waypoints allow RRT to visit targets in a set order and avoid obstacles.

Site template built by Jon Barron.