Build log
Notes and write-ups from building robots: gait tuning, state machines, ROS 2, and more.
- ·8 min read·Featured
Quadruped Gait Tuning: From Simulation to Hardware
How I tuned trot and walk gaits in Gazebo and then ported parameters to the real quadruped, including dealing with latency and contact uncertainty.
RoboticsSimulationControl - ·5 min read·Featured
Designing the Obstacle-Avoiding Car State Machine
A breakdown of the simple but effective state machine that keeps the robot car safe: states, transitions, and how to tune them.
EmbeddedArduinoAutonomy - ·6 min read
My First ROS 2 Project: Tips and Pitfalls
Lessons learned setting up ROS 2 Humble, writing nodes in C++ and Python, and debugging with rqt and the CLI.
ROS 2Tutorial