Projects

Actuation control of humanoid ankle joint with MPPI (ICRA 2026 published)

• Employed Artificial Neural Network (ANN) to establish nonlinear mapping between joints & motors

• Employed sampling-based Model Predictive Control (MPC) framework to effectively address nonlinear kinematics

Whole Body Control of Wheel-legged robot

• Implemented with MuJoCo, qpOASES

• Experimental validation with a real robot

Bounding gait of 2D quadrupedal robot

• Implemented with Gazebo, ros_control and rospy

Raibert one-legged hopper 

• Implemented with Gazebo, ros_control and rospy

• Github page link 

(MEN577 Kalman Filter) State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU