mathematics

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 spending a lot of time working with inertial measurement units recently and am discovering the surprising amount of mathematics that goes into using data from accelerometers and gyroscopes to get the orientation of an object in 3D space.