The Blog

The moving average filter reduces noise while preserving the dynamic behavior of time-varying signals by averaging only a recent window of measurements.

Forward Euler and Runge–Kutta are fundamental time-integration methods for continuous dynamics. This post explains their differences intuitively and illustrates why integrator choice matters using dead reckoning when GPS is unavailable.

This post contrasts one-shot (memoryless) control computation with iteration-based, optimization-driven control such as MPC, clarifying their roles, trade-offs, and practical implications in robotics.

Observability and controllability describe whether a system’s internal states can be inferred from outputs or driven by inputs. These concepts form the foundation of estimation and control in robotics and autonomous driving.

FABRIK(A Fast Iterative Solver for the Inverse Kinematics Problem) is a heuristic, iterative inverse kinematics solver that avoids complex matrix operations and singularities, providing smooth motion and fast convergence for robotic chains.

Numerical inverse kinematics can iteratively solve for joint angles to reach a desired end-effector position using gradient descent with the Jacobian pseudo-inverse, suitable for planar manipulators and more complex robotic arms.