Abstract: The generalized momentum observer (GMO) is widely used for robot collision detection, but its accuracy is significantly affected by external torque residuals caused by dynamic model errors.

Abstract: Collision detection is critical for safe physical human-robot interaction (pHRI). The generalized momentum observer (GMO) is a prevalent sensorless method, estimating momentum deviations to ...

I'm an independent creator passionate about building useful tools, simulations, and theories that make complex ideas more accessible. I explore the intersection of technology, education, and human ...

According to @godofprompt on Twitter, a comparative prompt was issued to ChatGPT 5.1, Claude Opus 4.5, and DeepSeek-V3.2 to generate a single HTML file implementing a realistic cloth simulation using ...

Real-time transaction risk monitoring system with rule-based fraud detection, REST API, and a React dashboard. Built with Node.js, Express, and SQLite.