IJRR paper publicly available: Impact-Aware Task-Space Quadratic-Programming Control
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Blog posts
2023
IROS 2023 workshop Accepted: Reactive and Predictive Humanoid Whole-body Control
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Our full-day workshop has been selected for IROS 2023 at Huntington Place in Detroit, Michigan, USA
2022
Software release: (floating-base) robot kinematics and dynamics
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Following the geometric approach, our implementation features efficient C++ code and provides analytical gradients. Please feel free to give it a try!
2021
ICRA 2021 workshop: High dynamic motion generation for under-actuated robots
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On June 4th, we will organize the workshop from 09:00am to 05:00pm in time zone: GMT +8.
2020
C++ Implementation of Analytical Frictional Impact Dynamics Model
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This is the first frictional impact model in three dimensions developed for robot applications. As an illustration, the figure below shows the moments corresponding to (1) the initial state, (2) the end of compression, and (3) the end of restitution during the impulse evolution. 
2016
I defended my PhD
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