Ph.D. student in Robotics at ETH Zurich
6 Code Design Principles
to improve object oriented code architecture and high-level structure.
RA-L 2018 Paper: "Gait and Trajectory Optimization for Legged Robots"
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"