I like to make robots move, learn, and adapt. 🧠 🦾 ⚡️
Extending the MIT Cheetah 3 convex MPC to CoP-constrained humanoid walking. Single-rigid-body modeling, 6D contact-wrench optimization, swing-foot planning, and a reproducible MPC debugging workflow, built from scratch in C++ on MuJoCo. C++17 · MuJoCo · Eigen · OSQP
An end-to-end cooking system on a low-cost 6-DOF arm. One trigger camera and two learned perception models decide when each stage should happen; a waypoint sequence and two ACT imitation policies decide how. With NmDongQ. Python · LeRobot · PyTorch · YOLOv8 · ACT
Control systems modeling and feedback control with Simulink and Arduino, validated on a ball-and-beam rig built for the purpose. Arduino · Simulink · PID
A mobile robot built from scratch on ROS 2, Raspberry Pi, and Arduino for indoor mapping and navigation experiments in school environments. ROS 2 · Raspberry Pi · Arduino · SLAM
Fusing gyroscope and accelerometer data from an MPU-6050 with a Kalman filter in MATLAB to estimate orientation. Gyro drift against accelerometer noise, and what the filter does with each. A course project report from SASA, written in Korean. MATLAB · Arduino · MPU-6050
Study notes compiled from my research wiki. Lecture series are written in Korean, paper and course notes in English.