Research

Robotics and kinematics

I work on the kinematics of serial robots, with a particular interest in making kinematic modelling automatic rather than manual. My recent work introduced a toolbox that determines the Denavit–Hartenberg parameters of any serial robot automatically, so that forward kinematics can be generated directly from a robot's description instead of being derived by hand.

Underactuated systems and control

Underactuated systems — such as reaction wheel and multi-link pendulums — have fewer actuators than degrees of freedom, which makes them ideal testbeds for control theory. I study the modelling and control of these systems using both linear methods, such as the linear quadratic regulator, and nonlinear control techniques.

Real-time control and estimation

Control theory only counts once it runs on hardware. I build real-time control systems and state estimators for physical setups, including camera-based online torque estimation with extended Kalman filtering, where vision replaces dedicated torque sensing.