Hiking
Highlights
- Leaves in the Light -
- Spin, Spin, Spin -
- Flowers -
- Coffee in the Rain -
- 2019 -
- 2018 -
- 2016 -
- 2015 -
School
Cv
Robotics
Personal
Matlab
Research
- So-Cal Control Workshop -
- Research Overview -
- Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice -
- Safety-Critical Controller Synthesis with Reduced-Order Models -
- Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bézier Polytopes -
- Bezier Reachable Polytopes -
- Robust Agility via Learned Zero Dynamics Policies -
- Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies -
- Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion -
- Layered Control Systems Operating on Multiple Clocks -
- Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors -
- Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization -
- Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions -
- Planar Bipedal Locomotion with Nonlinear Model Predictive Control -
- Exosuit Support Systems and Methods -
- A Primer on Multi-Rate Control -
- Learning Controller Gains on Bipedal Walking Robots via User Preferences -
- Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies -
- Multi-Rate Planning and Control of Uncertain Nonlinear Systems -
- Interactive multi-modal motion planning with Branch Model Predictive Control -
- Publications -
- Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion -
- Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots -
- Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots -
- Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety -
- A Machine Learning Strategy for Locomotion Classification and Parameter Estimation Using Fusion of Wearable Sensors -
- Coupled control Lyapunov functions for interconnected systems, with application to quadrupedal locomotion -
- Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots -
- Model Uncertainty and Machine Learning -
- Automated gap-filling for marker-based biomechanical motion capture data -
- Passive Dynamic Balancing and Walking in Actuated Environments -
- Fast Trajectory Generation for Quadrupedal Walking on Slopes -
- Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion -
- Design and Comparative Analysis of 1D Hopping Robots -
- Sampling tool concepts for Enceladus lander in-situ analysis -
- Machining -
Python
Movies
Fermenting
Thoughts
- Why is TSO(n) the set of skew symmetric matrices? -
- Do Discretization and Linearization Commute? -
- Lyapunov's Method -
- The Role of Abstraction -
- Brouwer's fixed-point theorem -
- Informative Videos -
- The Pendulum -
- Lie Theory -
- Useful Websites -
- Stochastic Least Squares -
- Mathematical Terminology -
- Papers To Read -
- Papers Read -
- Euler-Largrange as Geodesics -
- Dabblings with Differential Geometry -
Sports
Climbing
Reading
Baking
Bread
Sourdough
Futuretrips
3-day
2-day
Math
1-day
Running
Minerals
Notes
Writing
Photos