CV

Education

University of Southampton, PhD in Electronic and Electrical Engineering, Jan 2023 - Jan 2027

• Legged locomotion control and robot learning

University of Southampton, BEng in Electronic Engineering, First Class Honours, Sep 2019 - Jun 2022

• Robotics, control and communications, embedded engineering, digital signal processing, computer engineering, engineering mathematics

Research

Quadruped robot and the SPARC active spine, 2023 - present

• Built an 8-DoF, 6.66 kg quadruped end to end: mechanics, transmission, control boards, firmware and controllers
• Designed SPARC, a 1.26 kg three-DoF spine combining revolute and prismatic compliance
• Wrote a floating-base rigid body dynamics library in C for the MCU; RNEA and CRBA in 290 µs per 1 kHz cycle
• 97 bounding runs on hardware; 1.029 m/s top speed, 1.53x the rigid-spine maximum

Spine morphology under a learned controller, 2025 - present

• Matched comparison of rigid, actuated and impedance spines under one AMP training setup in Isaac Lab

Skills

• Control: rigid body dynamics, inverse kinematics, task-space impedance control, MPC, iLQR / LQR, trajectory optimisation, Raibert heuristics, system identification
• Robot learning: reinforcement learning, PyTorch, Isaac Lab, AMP, GPU batching, automatic differentiation, differentiable physics, URDF
• Embedded: C / C++, STM32, ESP32, FreeRTOS, CAN, SPI / I²C, FOC / BLDC, real-time control
• Mechanical and electrical: Autodesk Inventor, mechanism and transmission design, 3D printing, Altium Designer, PCB layout, power management, IMU and force sensing

Publications

See the publications page for the full list, or Google Scholar.