I make robots move, and build tools that show how.

I work on motion planning, trajectory optimisation, and whole-body control for legged robots and manipulators. Outside work I build open-source hardware and interactive simulations, and explain them on YouTube.

Explore projects CV

The £20 rotary inverted pendulum next to a £4,500 lab version. — The £20 pendulum’s own 689-parameter network, driving a MuJoCo model of the rig in your browser.

1.4k

GitHub stars across projects

740k+

views on YouTube

peer-reviewed papers

years of side projects, since 2013

01Selected work

Things I’ve built

All 19 projects

A commercial £4,500 lab pendulum next to the white 3D-printed £20 build.

Featured

Rotary Inverted Pendulum

A £20 open-source Furuta pendulum that balances itself with a 689-parameter neural network running standalone on an Arduino Nano.

2024 – 2026PythonMuJoCoArduino9831k

Laser-like rays fanning out from a small sensor breadboard into a 3D point cloud.

Time-of-Flight 3D Scanner

Turn a £5 VL53L5CX multi-zone ToF sensor and an IMU into a real-time 3D point-cloud viewer and room mapper.

2026PythonESP32viser525389k

Robot Explorer

Browse 81+ robots from 35+ brands in the browser, with real-time inverse kinematics, manipulability ellipsoids, and force polytopes.

2017 – 2026TypeScriptThree.jsVite21

A thermal image of a sleeping dog in the viewer, with temperature controls on the right.

Thermal Master Viewer

A browser-based viewer for Thermal Master P3/P1 USB thermal cameras. Plug in, open the page, no install — driven directly over WebUSB.

2026JavaScriptWebUSB

A Kinova Gen3 Lite arm tracing a circle in the MeshCat visualiser.

TORA.jl

Trajectory Optimisation for Robot Arms — describe a task at a high level and get a full, dynamically consistent trajectory back.

2020 – 2023JuliaIpoptKnitro56

The PID demo with a cart on a rail, gain sliders, and an explanatory side panel.

PID Control, Explained

Learn what P, I, and D actually do by tuning a controller on a simulated cart, with live plots and performance metrics.

2026JavaScriptCanvas

myCobot 280 Lab

Custom firmware and a browser control page for the myCobot 280 arm — a 500 Hz loop on the arm's own controller, measured from the servo bus up.

2024 – 2026C++ESP32Julia

02Research

Robust motion, planned ahead

My PhD at the University of Edinburgh asked how to plan dynamic motions that stay feasible when the world pushes back — making robustness to disturbances part of the optimisation itself, not an afterthought for the controller.

Direct transcription · rigid-body dynamics · force polytopes · legged loco-manipulation on ANYmal, Valkyrie, and TALOS.

All publications PhD thesis (PDF)