Evaluating whole-body control architectures (WQP, HQP, Passivity, LQR) for humanoid balance in Mujoco simulation with learning-based residual compensation. MSc thesis @ University West 2026.
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Jun 3, 2026 - Python
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balance-control
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A Unity project featuring a 2D character with procedural animation driven by inverse kinematics (IK). The animation is controlled programmatically without pre-made keyframes, enabling smooth, dynamic motion based on logic and math.
unity simulation animation game-development inverse-kinematics procedural character-controller unity2d ik 2d-animation procedural-animation balance-control
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Jul 17, 2025 - C#
Implementation of the directional virtual time-to-contact for balance research.
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Aug 1, 2023 - Python
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