Following links include brief portfolios that provide punchlines from the robotic projects I worked during my postdoctoral and Ph.D. studies. Each portfolio includes related videos and suggest you to view them in full-screen.
Moreover, most videos start with friction&gravity compensation schemes. To see the actual action, please jump over those scenes if you'd like.
3) Agile Quadruped Locomotion Control
4) Mobile Manipulation (things did not proceed the way I expected. I still have a couple of ideas but have no time for this particular field anymore)
5) Inverting Euler's Equations of Motion: A purely mathematical pet-project in which I try to find closed-form solutions of Euler's equations. I have some unpublished results yet for special cases. If you are interested, send an e-mail.