Robotics researcher at ETH <RSL, ADRL> specialized in robot motion planning. Translating objectives ("walk up these stairs, dog!") and physical laws (e.g F=ma) into general mathematical optimization formulations that, when solved, produce motions as seen below.

Robotics Motion and Path Planning Legged Locomotion Trajectory Optimization Nonlinear Programming Optimal Control Programming (C++)


towr: A light-weight, Eigen-based C++ library for trajectory optimization for legged robots

PhD Thesis

Optimization-based Motion Planning for Legged Robots

Paper #1

Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization
pdf video-tutorial

Paper #2

Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints
pdf video