Posts
Long-form writing, filed under one of three series. Subscribe to the long-form feed if you only want these and not the short stuff.
Series
- Field Notes from Shenzhen
What the Chinese robotics industry looks like from inside it: supply chains, spec sheets, and the engineering culture behind the shipping cadence.
- Agents on Metal
AI coding tools were built for a feedback loop measured in seconds. Here is what happens when the loop runs through a compiler, a flash cycle, and a machine in a lab.
- Equations to Encoders
Control theory carried all the way to hardware — derivations, then the measurement that says whether the derivation was right.
All posts
- Gravity doesn't matter for joint PID tuning
Posture changes the gravity torque on a humanoid shoulder by 16 N·m and the stability margin by 0.018°. Here is why that is exact rather than approximate — and the one place gravity does bite.