Humanoid locomotion
Robust walking and landing stabilization on uneven terrain through impedance, admittance, and momentum-aware control.
01 / Research
Control at the point of contact.
The work connects dynamics, sensing, and optimization around one practical question: how can a robot remain stable and useful when the world is uncertain?
Whole-body balance
Task-space formulations and constrained optimization for articulated robots whose motion, balance, and contact forces must be solved together.
Interactive manipulation
Force-aware robotic hands, dual-arm teaching, and physical interaction that translate human intent into controlled robot motion.
Selected systems
One perspective, different bodies.
Feedback, dynamics, and constrained control recur across every platform.
Legged systems
Uneven-terrain locomotion
Whole-body walking and landing controllers that coordinate momentum, foot contact, and compliant response when terrain does not match the model.
Watch research video ↗Wheeled systems
Ballbot balance and tracking
Projected task-space dynamics with inequality constraints for a dynamically balancing platform under contact-force objectives.
Read paper ↓Manipulation
Force-aware hands and teaching
Multi-finger force control and whole-body direct teaching for robots that must manipulate, interact, and preserve balance at the same time.
Watch research video ↗