Christian De Buys

I received my B.S. and Ph.D. in Mechanical Engineering from Texas A&M university. My research focus is the design and control of robotic systems. I have experience in mechanical design, control system design, rapid prototyping, optimization, and trajectory generation, especially as they pertain to soft surgical robots and legged robots. 

Ph.D. in Mechanical Engineering

Texas A&M University, College Station, 2016-2023

Chair: Reza Langari, Ph.D.

Topic:  Design and Redundant Control of Limited-Use Tendon-Driven Continuum Manipulators with a Passive Proximal Section

Contributions:  


Projects

Dynamic Simulation of 5 DOF Bipedal Robot

Trajectory generation and forward simulation were performed in Julia.

Design and Implementation of Inverted Pendulum Robot

A BeagleBone Black and a robust controller in C++ were used to stabilize this robot.

Design and Implementation of 3 DOF Teleoperated Robot

Motion of the robot arm was linked to that of the user via IMU and EMG.

Other Projects and Ideas

Optimal Trajectory Parameterization

Optimal walking trajectories were parameterized along step length and saved for on-line interpolation.

Hull of Allowable Perturbation

Minimum impulse to cause falling in a 2D biped was recorded to provide a metric for stability.

Human-inspired Control

Feedback linearization with additional PD in feedforward was used to emulate human walking control.