Robotic Exploration Lab

A differentiable fluid-structure interaction (FSI) solver for robotics applications.

Studies for the RSS 2026 paper on Robotic Swimming with Unified Fluid-Robot Multiphysics

Generates fast C dynamics and kinematics function from URDFs using Pinocchio and CASadi with Julia wrappers.

Lab Website

TinyMPC-integrated firmware for the Crazyflie Nano Quadcopter

Implementation of paper "A Hybrid Control Method for Sun Pointing and Spin-Axis Stabilization of Magnetorquer-Actuated Spacecraft"

gradient-free, highly parallelizable trajectory optimization