Projects
Only real robotics work is surfaced here. The old theme demo entries are removed entirely.
2019–2022
A research track on landing stabilization, impedance control, and centroidal momentum formulations for humanoid walking under uncertain terrain contact.
2020
Contact-force-based balance and tracking control for a ballbot, using projected task-space dynamics with unilateral and friction constraints.
2011–2014
Early research on grasping force control, compliance, internal force design, and dexterous multi-contact manipulation with robotic hands.
2012–2016
Whole-body balancing and gravity-aware task-space control for upper-body dual-arm robots used in direct teaching and heavy-object interaction.