My lab is working at the intersection of robot design and control, where our goal is to develop legged robots with a high level of agility and autonomy. Our approach is based on mechanical design, dynamic modeling, and optimization and the current research directions are: (1) design of agile legged robots (2) model predictive control for highly dynamic locomotion (3) trajectory generation and contact planning

I am looking for self-motivated graduate students who have strong background in:

• Mechatronics system design and integration

• Model-based optimization, robot dynamics and control

• Hands-on experience on robot hardware

Prospective students please refer to: https://robotics.umich.edu/academics/graduate/admissions/ and email your CV, transcript and (optional) portfolio with a title starting with [PHD application].

News

• 08/28/2023: I started as an assistant professor at the University of Michigan

• 01/17/2023: I served as an associate editor of IROS 2023

• 11/28/2022: Our paper "Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking" is presented at Humanoids

• 11/28/2022: Our paper "Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions" is presented at Humanoids

• 03/11/2022: I am one of the associate co-chairs of TC on Model-Based Optimization for Robotics

• 6/17/2021: Our paper "Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds" is selected as the 2020 Technical Committee (TC) Best Paper Award Finalist on Model-Based Optimization for Robotics Best Paper Award

• 6/1/2021: First day as postdoctoral associate at Massachusetts Institute of Technology (MIT)

• 5/30/2021: Our paper "Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains" is presented at ICRA