Robotics researcher specialized in motion planning for legged systems.
6 Code Design Principles
to improve object oriented code architecture and high-level structure.
Gait and Trajectory Optimization for Legged Systems
Paper: https://ieeexplore.ieee.org/document/8283570/ Recorded talk: https://youtu.be/KhWuLvb934g
PhD Defense 2018: "Optimization-based motion planning for legged robots"
Centroidal Dynamics Model Comparison
RA-L 2017: "Vertex-based ZMP constraints"