Blog

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

Latest posts ¶

• 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
• Optimality conditions and numerical tolerances in QP solvers November 2022

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

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

Geometry ¶

• Projecting polytopes October 2017
• Polyhedra and polytopes October 2017

Science ¶

• Reviewing a scientific paper March 2018
• Writing a scientific paper June 2017
• In addition to open access March 2016

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

Linux ¶

• 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
• Debian 9 Mail Server, Part I: Postfix and Dovecot April 2014

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

Blogroll ¶

• Gregwar's blog
  Grégoire Passault's blog about robotics, embedded systems, teaching and more.
• A Modicum of Fun
  Josh Pieper's blog, with many 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.