Mohammadreza Gilak

Welcome to my personal site, where I write about my projects and share my notes.

My Projects

• Quadrupedal Robotics Contact and Collision Detection

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  Contact and collision detection for quadrupedal locomotion gait planning.

  
• Quadrupedal Robotics

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  Notes and development updates on the design and control of a quadrupedal robotic platform.

• Inverse Optimal Control Published

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  Notes on our conference paper on Inverse Optimal Control.

• Quadrupedal Locomotion

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  Model Predictive Control for quadrupedal locomotion.

  

My Notes

• 2026-04-10 • Git

• 2026-04-02 • Geometric Approach to Nonlinear Control

• 2026-04-02 • Change of Coordinates

• 2026-04-02 • Basics of Differential Geometry

• 2026-04-01 • Nonlinear Control

My Open Source Projects

• Model Predictive Control

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  MATLAB codes for a DMC and an EPFC controller

• Active Disturbance Rejection Control NEW

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  Simulink, MATLAB, and Python implementation of Active Disturbance Rejection Control (ADRC)

  
• Manipulator Simulation NEW

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  An object-oriented MATLAB implementation of manipulator kinematics, dynamics and control

  
• Optimal Control

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  MATLAB codes for solving the general nonlinear optimal control problem