Robotics Technical Lead at ALL3 with a PhD in trajectory optimisation for legged robots. Projects, research, and writing.https://ferrolho.github.io/https://ferrolho.github.io/projects/thermal-master-viewer/https://ferrolho.github.io/projects/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.Sun, 16 Aug 2026 00:00:00 GMThttps://ferrolho.github.io/projects/ModernRoboticsBook.jl/https://ferrolho.github.io/projects/ModernRoboticsBook.jl/A Julia port of the Modern Robotics textbook library — rigid-body motions, kinematics, dynamics, trajectory generation, and control.Wed, 01 Jul 2026 00:00:00 GMThttps://ferrolho.github.io/projects/algorithm-cheat-sheet/https://ferrolho.github.io/projects/algorithm-cheat-sheet/A two-sided A4 sheet mapping problem clues to algorithms, with a minimal template for each — generated from editable YAML.Tue, 30 Jun 2026 00:00:00 GMThttps://ferrolho.github.io/projects/hand-tracking-experiments/https://ferrolho.github.io/projects/hand-tracking-experiments/Real-time monocular hand tracking on Apple Silicon — MediaPipe live at ~40 fps, WiLoR meshes offline — aimed at teleoperating a robot hand.Tue, 09 Jun 2026 00:00:00 GMThttps://ferrolho.github.io/projects/robot-explorer/https://ferrolho.github.io/projects/robot-explorer/Browse 81+ robots from 35+ brands in the browser, with real-time inverse kinematics, manipulability ellipsoids, and force polytopes.Sun, 07 Jun 2026 00:00:00 GMThttps://ferrolho.github.io/projects/rotary-inverted-pendulum/https://ferrolho.github.io/projects/rotary-inverted-pendulum/A £20 open-source Furuta pendulum that balances itself with a 689-parameter neural network running standalone on an Arduino Nano.Fri, 15 May 2026 00:00:00 GMThttps://ferrolho.github.io/projects/robot-localization-explained/https://ferrolho.github.io/projects/robot-localization-explained/An interactive, step-by-step introduction to how a robot knows where it is — from dead reckoning to a Kalman filter to map-based localization.Tue, 28 Apr 2026 00:00:00 GMThttps://ferrolho.github.io/projects/solaris/https://ferrolho.github.io/projects/solaris/An interactive 3D solar system in the browser — textured planets at realistic positions, from the Sun out to Pluto.Sun, 05 Apr 2026 00:00:00 GMThttps://ferrolho.github.io/projects/pid-control-explained/https://ferrolho.github.io/projects/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.Sat, 07 Mar 2026 00:00:00 GMThttps://ferrolho.github.io/projects/VL53L5CX-BNO08X-viewer/https://ferrolho.github.io/projects/VL53L5CX-BNO08X-viewer/Turn a £5 VL53L5CX multi-zone ToF sensor and an IMU into a real-time 3D point-cloud viewer and room mapper.Tue, 03 Feb 2026 00:00:00 GMThttps://ferrolho.github.io/blog/magisk/https://ferrolho.github.io/blog/magisk/Notes on how to install and use Magisk with MIUI on Xiaomi and Redmi phones.Sun, 15 Oct 2023 15:00:00 GMThttps://ferrolho.github.io/projects/roloma/https://ferrolho.github.io/projects/roloma/Robust loco-manipulation for quadrupeds with arms — trajectories that resist stronger disturbances, from any direction, while pulling levers and turning wheels.Sat, 30 Sep 2023 00:00:00 GMThttps://ferrolho.github.io/projects/TORA.jl/https://ferrolho.github.io/projects/TORA.jl/Trajectory Optimisation for Robot Arms — describe a task at a high level and get a full, dynamically consistent trajectory back.Sat, 31 Oct 2020 00:00:00 GMThttps://ferrolho.github.io/blog/stabilizing-a-video-subject-in-kdenlive/https://ferrolho.github.io/blog/stabilizing-a-video-subject-in-kdenlive/Sun, 09 Aug 2020 22:00:00 GMThttps://ferrolho.github.io/blog/solving-a-geometry-quiz-with-jump/https://ferrolho.github.io/blog/solving-a-geometry-quiz-with-jump/Mon, 27 Jul 2020 16:00:00 GMThttps://ferrolho.github.io/blog/space-shuttle-reentry-trajectory/https://ferrolho.github.io/blog/space-shuttle-reentry-trajectory/Mon, 25 May 2020 21:00:00 GMThttps://ferrolho.github.io/projects/space-shuttle-reentry-trajectory/https://ferrolho.github.io/projects/space-shuttle-reentry-trajectory/Computing a 33-minute Space Shuttle reentry trajectory in under 7 seconds with direct transcription and JuMP.Mon, 25 May 2020 00:00:00 GMThttps://ferrolho.github.io/blog/how-to-install-julia-on-ubuntu/https://ferrolho.github.io/blog/how-to-install-julia-on-ubuntu/Sat, 26 Jan 2019 18:24:00 GMThttps://ferrolho.github.io/blog/building-a-self-balancing-robot/https://ferrolho.github.io/blog/building-a-self-balancing-robot/Sun, 22 Apr 2018 15:33:00 GMThttps://ferrolho.github.io/projects/balanbot/https://ferrolho.github.io/projects/balanbot/My first hands-on robotics build — a two-wheeled Balanbot kit, a custom battery adapter, and a fair amount of fixing.Sun, 22 Apr 2018 00:00:00 GMThttps://ferrolho.github.io/blog/hello-world/https://ferrolho.github.io/blog/hello-world/Sat, 31 Mar 2018 23:00:00 GMThttps://ferrolho.github.io/projects/gamepad-tester/https://ferrolho.github.io/projects/gamepad-tester/Connect a controller and see every button and stick light up in real time. Embeddable anywhere with a single iframe.Wed, 10 Jan 2018 00:00:00 GMThttps://ferrolho.github.io/projects/magnet-player/https://ferrolho.github.io/projects/magnet-player/Stream torrents directly in the browser. Paste a magnet link and watch — peer-to-peer over WebRTC, with nothing to install.Fri, 16 Sep 2016 00:00:00 GMThttps://ferrolho.github.io/projects/jekyll-theme-libretto/https://ferrolho.github.io/projects/jekyll-theme-libretto/A responsive one-column Jekyll theme with classic styling and careful typographic details, ported from WordPress.Thu, 01 Sep 2016 00:00:00 GMThttps://ferrolho.github.io/projects/createjs-playground/https://ferrolho.github.io/projects/createjs-playground/Four small browser simulations from 2016 — evolving bacteria, flocking boids, a to-scale solar system, and a starry night.Sun, 17 Apr 2016 00:00:00 GMT