balance-control

Balance and locomotion control for a 67 kg Unitree H1-2 humanoid in MuJoCo: torque control, CoM/CoP estimation, ankle and momentum strategies, LIPM walking with a whole-body QP, an RL-policy comparison, and a ROS 2/Gazebo port.

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.

PID controller for a Pixhawk twin-rotor balance rig using MAVLink ATTITUDE telemetry and differential PWM outputs.

Implementation of the directional virtual time-to-contact for balance research.

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.