Robotics Motion and Path Planning Legged Locomotion Trajectory Optimization Nonlinear Programming Optimal Control
Hi! I'm a Robotics PhD student focussing on robot motion planning. I translate physical laws and mathematical models of legged systems into efficient code that is then solved using mathematical optimization solvers.
Jan 11, 2018 · Paper
"Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization",
May 14, 2018 · PhD Defense
"Optimization-based Motion Planning for Legged Robots", (slides).