Blog

This corner is for sharing thoughts and techniques in math and computer science, not necessarily related to robotics.

Latest posts ¶

Migrating continuous integration from GitHub to Codeberg July 2026
Balancing is a low-frequency task May 2024
Introduction to optimal control: LQR February 2024
Lasso regularization in quadratic programming December 2023
The ZMP is an axis, not a point December 2023

Science ¶

Robotics ¶

Balancing is a low-frequency task May 2024
Introduction to optimal control: LQR February 2024
The ZMP is an axis, not a point December 2023
Computing torques to compensate gravity in humanoid robots October 2022
Joint torques and Jacobian transpose September 2021
On scaling control systems for bipedal locomotion December 2019

Software ¶

Migrating continuous integration from GitHub to Codeberg July 2026
CMake can use a local Boost December 2017
Makefiles for LaTeX April 2016
Configuring Awesome with Gnome on Ubuntu April 2016
Getting started with awesome February 2016
Vim keyboard shortcuts February 2016
Debian 9 Mail Server, Part II: SPF and DKIM November 2015
Improve your Nginx SSL configuration September 2015
Renewing SSL certificates February 2015

Optimization ¶

Lasso regularization in quadratic programming December 2023
Optimality conditions and numerical tolerances in QP solvers November 2022
Conversion from least squares to quadratic programming November 2020
Linear least squares in Python November 2020
Quadratic programming in Python April 2017
Linear Programming in Python with CVXOPT September 2015
Linear Programming in Python with PuLP January 2014

Python ¶

Simple linear regression with online updates October 2021
Linear least squares in Python November 2020
Quadratic programming in Python April 2017
Solving symbolic equations with SymPy February 2016
Linear Programming in Python with CVXOPT September 2015
Linear Programming in Python with PuLP January 2014
Debugging with IPython November 2013
Student's t-test in Python September 2013
Superposing video frames in a single picture July 2013

Math ¶

Projecting polytopes October 2017
Polyhedra and polytopes October 2017
Solving an ordinary differential inequality May 2017
Promenade binaire August 2013
Integrating cosines of polynomials April 2010
Intégrales de cosinus de polynômes March 2010
Quick way to find big prime numbers September 2009
Tours de Hanoï December 2007
Union-find November 2007

Gregwar's blog
Grégoire Passault's blog about robotics, embedded systems, teaching and more.
mjbots blog
Blog posts detailing the development of moteus boards and quasi-direct drive actuators.
Why Can't I Reproduce Their Results?
For graduate students: decoding avec brio the impressions you will likely go through (I did!) during your PhD.
You and Your Research - Richard Hamming
How to individually do your research? Teeming with insights and humour, from a fantastic elder.