Projects
Research and engineering work in robotics, AI, and intelligent systems.
Sim-to-Real MPC Optimization for WalkOn F1: Lessons from Cybathlon 2024
Optimizing Model Predictive Control (MPC) walking trajectories for the WalkOn F1 exoskeleton that won Cybathlon 2024. An account of real-world sim-to-real challenges and the iterative solutions that bridged the gap between simulation and hardware.
Model Predictive Control for Powered Lower-Body Exoskeleton Robots
Advanced control methodology for powered lower-body exoskeletons using Model Predictive Control (MPC), enabling robust and adaptive operation in dynamic environments.
Identification of Physical Parameters of Body Segments
Estimating the center of mass (CoM) of the leg using the H-10 Hip Assistive Robot and comparing experimental and anthropometric methods for human-assistive robotics.
Trajectory Analysis & Optimization UI for Bipedal Robots (Real-Time Kinematics & Visualization)
A powerful interface for analyzing and optimizing bipedal robot motion trajectories in real-time. Integrates forward/inverse kinematics with visualization for processing millions of data points per minute, enabling rapid trajectory testing and optimization.