I am currently leading the motion planning and high level behavior/integration development of this project. Through our testing with humans, we observed that the robot would cause nearby humans to feel uneasy when performing motions that were not human-like even though these motions were the most efficient from the robot's perspective. I have worked to adjust our motion planning algorithms to balance the most efficient path with human safety and comfort to ensure that the work of the nearby human workers is not negatively impacted by the robot.
  Additionally, we have used the developed motion planning algorithms to successfully pickup fish and sort them into piles based on their weight. My responsibilties included integrating and testing various grippers to identify which is most successful in firmly grasping the fish without damaging them. The types of grippers have varied from having soft and hard fingers to having electrical and pneumatic control mechanisms.
  I have participated in demos of this project at a conference in Las Vegas and at seafood processing plants in Massachusetts to multiple high-profile pepole including the Governor of Massachusetts and the President of Northeastern University.