Cartpole Dynamics and Control

Introduction As is the case for a lot of PhDs, my main work focuses on a small part of robotics. There are many areas of robotics that I would love to work on but do not.

How to Integrate Quaternions

I’ve been working with inertial measurement units lately, and I’ve come to realize that there’s a surprising amount of mathematics involved in processing the raw data from the sensors. The story begins with me trying to integrate a three-dimensional angular velocity vector to get the orientation of an object.