Mohammadreza Gilak

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

My Projects

• Quadruped Locomotion

  ---

  Model Predictive Control for quadrupedal locomotion.

  
• Contact Detection

  ---

  Contact and collision detection for quadrupedal locomotion gait planning.

  
• Quadrupedal Robots

  ---

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

• Quadruped Parameter Identification

  ---

  Notes on quadruped robots' parameter identification.

  
• Inverse Optimal Control Published

  ---

  Notes on our conference paper on inverse optimal control.

• Active Disturbance Rejection Control Open-source

  ---

  A multi-language implementation of active disturbance rejection control.

  
• Learning

  ---

  Explores various learning paradigms applied in control and robotics.

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

  ---

  MATLAB codes for a DMC and an EPFC controller.

• Active Disturbance Rejection Control Open-source

  ---

  A multi-language implementation of active disturbance rejection control.

  
• Manipulator Simulation

  ---

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

  
• Optimal Control

  ---

  MATLAB codes for solving the general nonlinear optimal control problem.