Recent Work


Media Reports

  • engadget

  • dailyMail

    Durus-2D could prove useful in their goal to develop cutting-edge robotic limbs for amputees and those with limited mobility.


    First, we taught robots how to walk and keep their balance, even when we tried to push them over. Now we’re teaching them to run?!

Bipedal robotic running with DURUS-2D: bridging the gap between theory and experiment, 20th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 2017).

Efficient HZD gait generation for three-dimensional underactuated humanoid running, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea.


Walking Robots

Modular Robot

Use the "Mechanics"

The "formal" math

Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER3M, submitted to IEEE International Conference on Robotics and Automation 2017 (ICRA), Sigapore.

Mechanics-based design of underactuated robotic walking gaits: initial experimental realization, IEEE-RAS International Conference on Humanoid Robots (Humanoid2016), Cancun, Mexico.

First steps toward formal controller synthesis for bipedal robots, 18th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 2015).


First steps toward formal controller synthesis for bipedal robots with experimental implementation, Nonlinear Analysis: Hybrid Systems, A journal of IFAC, the International Federation of Automatic Control.


Multi-Contact Walking

The "robustness"

Discover Channel report

Human-inspired multi-contact locomotion with AMBER2. ACM/IEEE 5th International Conference on Cyber-Physical Systems (ICCPS2014), April, Berlin, Germany.

Best Paper Award Finalist


Multi-contact bipedal robotic locomotion, Robotica 2015.

A feature piece on AMBER Lab that appeared on the Daily Planet on Discovery Channel.

AMBER2 Multi-Contact Walking

"Dancing" robot

The "first" feet-walking

"Voltage" actuation

Composing dynamical systems to realize dynamic robotic Dancing. In the Workshop on the Algorithmic Foundations of Robotics (WAFR), Istanbul, Turkey, 2014.

Human-inspired walking via unified PD and Impedance control, in 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hongkong, China.

This flat ground walking was accomplished via an human-inspired optimization, then applying PD controller on human-like outputs. The novel part is that there is now low level controller, direct voltage controller was deployed to control motors.



NI week 2012

This project shows how Human-Inspired Control, which creates and tracks a partial hybrid zero dynamics surface, can be implemented in real-time on the NAO robot where a control update period of 10 ms makes every operation critical. By considering reduced-order model dynamics, a 20-dimensional ODE is reduced to a two-dimensional ODE to which the exact analytical solution is known

This was on Texas Day at NIWEEK Conference held by National Instrument on August, 2012. My job was implementing the walking via LabView as Researcher & Exhibitor.

The early stage

Adaptive cruise control: experimental validation of advanced controllers on scale-model cars, The 2015 American Control Conference, July 1–3, Chicago, IL, US.



Bachelor in

Mechanical Engineering

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Control Dynamical Systems

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M.S. in

Mechanical Engineering

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Build it, break it, fix it.

- Marc Raibert


To re-create & improve Raibert's hooper with formal mathematical proof and nonlinear control.

End goal: online stable hopping gait generation.

Motion Planning

To plan Start->walking->running->jumping->running slowdown->walking slowdown -> stop for DURUS robot in simulation, with HZD and pseduspectrual methods.


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