Selected Projects

A collection of my work in robotics, control theory, and simulation.

MPC Quadruped Robot

MPC for Legged Locomotion

A real-time Nonlinear Model Predictive Control framework with environment adaptation for dynamic quadrupedal locomotion. Designed to maximize mobility on rough terrain.

PhD Thesis Cover Abstract

MPC for Legged Robots (PhD Thesis)

A comprehensive thesis on optimal planning and real-time NMPC for legged locomotion. Covers dynamic modeling, trajectory optimization, and experimental validation on the HyQ robot.

Control Optimization Graph

Optimization-Based Reference Generator

A novel optimization-based reference generator for Nonlinear MPC using LIP models. Eliminates heuristic tuning and improves disturbance rejection for legged robots.

Terrain Adaptation Abstract

Real-time MPC with Mobility

Real-time NMPC scheme with a mobility-enhanced feature. Allows quadruped robots to adaptively traverse terrain irregularities by maximizing leg workspace.

Solar Cooling Plant Schematic

Solar Cooling Plant Control

Modelling and predictive control of a solar cooling plant. Optimizes configuration flexibility to minimize energy consumption in a real-world medium-temperature system.

Solar Simulation Data

Solar Cooling Plant (Thesis)

Master's thesis focusing on the extensive modeling, simulation, and predictive control strategies for a medium-temperature solar cooling plant.

More Coming Soon

I am constantly working on new research and projects. Check back soon for more updates!