Research notebook

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Notes on designing, building, and controlling robots.

Latest articles

2026-06-16 · WBC Software Architecture

How task requests become costs, constraints, and priority levels in a whole-body controller.

2026-06-15 · WBC Software Architecture

How a pose task turns model data and a reference into consistent errors, desired acceleration, and a solver residual.

2026-06-14 · WBC Software Architecture

From encoder and base-estimator outputs to consistent q, v, and robot-model data for whole-body control.

2026-06-13 · WBC Software Architecture

Why a humanoid's hand target involves the whole robot, and how tasks, contacts, and dynamics become software responsibilities.

2024-09-02 · CAN Bus for Robotic Hardware

Watch queues, blocking reads, stale feedback, command latency, and watchdogs interact on an animated control timeline.

2024-09-01 · CAN Bus for Robotic Hardware

Map effort, position, velocity, stiffness, and damping to an eight-byte motor impedance command.

2024-04-12

Collection of useful resources for learning robotics.

2023-12-05 · CAN Bus for Robotic Hardware

Single-motor gripper control with ESP32, SimpleFOC, and SocketCAN

2023-09-10 · CAN Bus for Robotic Hardware

Exchanging CAN frames between SocketCAN and an ESP32

2023-09-02 · CAN Bus for Robotic Hardware

Find your adapter, configure SocketCAN, and distinguish a working Linux interface from a working actuator link.

2023-09-01 · CAN Bus for Robotic Hardware

Read CAN payloads in hex, wire a terminated twisted pair, and budget command and feedback traffic for robot actuators.