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Demonstrations
Hybrid Motion-Force Manipulation for Generic Peg-In-Hole
Image-Based Visual Servo, Motion-Force, Cartesian Impedance Control
Control Framework for Heterogeneous Robots and Control Modes
Physics-Based Simulator for Robotics Research and Development
Robot Semi-Repetitive Behavior Generation Toolbox
Ph.D. Research on Shared Control of Construction Robots
Whole-Body Control of Wheeled Humanoids
Elements of Embodied AI Robotics
Architectures and Design Considerations
Frameworks · Embodied AI Robotics
Robotics Software Architecture Abstraction
Logger System Elements and Landscape
Middleware Landscape
Architecture Design · Visualization, Physics, Controller Framework with Cross-Platform Compatibility and Minimum Dependencies
Notes on Software Repository Management and Maintenance
Robot Dynamics and Control
Fundamentals of Dynamics and Control of Flexible Joint Robots
Operational Space Framework, Hybrid Motion-Force Control
Nullspace Concepts, Robotics Applications, Implementation
Analytical Whole Body Control, Prioritized Recursive Nullspace
Reactive Mobile Manipulation via Quadratic Programming
Impedance Controller Design and Robustness Analysis
Impedance Change of Basis, Generalization
Admittance Controller in SE(3)
Wrench Sensor and Tool Dynamics Calibration
Robot Singularity Avoidance, Analysis and Comparison
Image-Based Visual Servo Control
Model Predictive Control via Quadratic Programming
Signal Processing and Numerical Methods
Point-to-Point Trajectory Interpolation Concepts and Implementation
Point-to-Point Trajectory Interpolation in SO(3)
Minimum Jerk Trajectory via Quadratic Programming
Online Trajectory Generator in Rn and SE(3)
Numerical Integration via Runge-Kutta
First-Order Low-Pass Filters in Rn and SE(3)
High-Order Butterworth Filters, Time and Frequency Analysis
Smooth and Conservative Upsampler
Kalman Filters
Rigid Body Motion and Spatial Mathematics
Rigid Body Motion, Concepts and Terminologies
Exponential and Logarithm in SO(3), SE(3), Quaternion Space
Orientation Difference and Cartesian Motion Control Tasks
Spatial Kinematics and Transformations
Spatial Dynamics and Transformations
Rotation Dynamics, Magnus Series, and Implementation
Math Concepts in Robotics and Controls
Constrained Optimization, Lagrange Multiplier
Least Squares, Minimum Norm, Pseudo-Inverse Solutions
Direction and Angle with Dot and Cross Products (Singular Direction with Dot Product in $AA^T$-Eigen Coordinates)
C++ Notes
Debug · C++ with GDB and Core Dump Files
Debug · Google Logging Library 101
C++ · Inheritance Topics, CRTP Singleton Base
C++ · Dependent Scope Syntax
C++ · Join and Transform STL Containers
C++ · Sgn, UnitSat, Random Real
C++ · Angle Conversion, Normalization, Error via Closer Path
C++ · printf Usage Examples
C++ · Unix Timing, Timer, Periodic Thread
C++ · Finite State Machine Abstraction
C++ · Remote Controller with Logitech F710
C++ · Robot Interface Abstraction
Eigen 101 · Init, Blocks, Info, Access, Resize, Cast
Eigen 101 · Comparison, Reductions, Cwise Operations
Eigen 101 · Aliasing, Function Arguments and Reference
Eigen 101 · Mapping, Printing, Unary Operations
Eigen 101 · Evaluation and Type Traits
Eigen · Orientation Difference and SO(3) Matrices
Eigen · Rotation Logarithm and Exponential
Eigen · Rn and Spatial Motion Vector Saturation
Eigen · SE(3) Data Structure
Robotics Software
Design · Rule-Based Robot Control Software Architecture
Design · Rule-Based Behavior Graph Abstraction
Design · Variable Data Structure
System · Bash Script with Options
System · Tmux via Bash
System · Handy Tools
System · CMake Flags, Expressions, Debug Tricks
System · Ubuntu Setup Notes
System · Ubuntu Setup Notes, Secondary
System · Debian Package Creation
System · Docker 101
System · Virtual Reality Tele-Operation Device Driver
ROS-2 · Foxglove Visualization
ROS-2 · Tracing Information in Launch, Xacro, ROS2_Control
ROS-2 · Rviz and Gazebo
Apps and Tools
LLM Arena with RAG
3D Rotation Converter and Visualizer
Robot URDF Visualizer
Toolbox · Yaml Reader
Toolbox · qpOASES Wrapper
Toolbox · RBDL Wrapper
Python Notes
Python Review · Data Types and Behaviors
Python Review · Shallow and Deep Copy
Python Review · Conditions, Loops, Context Managers
Python Review · Membership, Logic, Walrus, Identity, Comparison Operators
Python Review · Iterators, Generators, Comprehensions, Iterable, Hashable
Python Review · Unpacking, Structural Matching, Packing
Python Review · Functions
Python Review · Object Oriented Programming
Python Review · Exceptions, Logging, Unittest
Python Review · Modules and Runtime
Python · Poetry Project Notes