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Elijah Chan
Intern Robotics/Controls Engineer specializing in legged locomotion control and embedded systems
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Robotics software candidate who built a full MPC-based locomotion controller for the Unitree Go2 quadruped, outputting low-level torque commands. Demonstrated strong real-time optimization skills by profiling the control pipeline and cutting compute time to <5ms per tick, and is integrating the stack with ROS 2 plus MuJoCo/Pinocchio for closed-loop simulation and model linearization.
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Key Strengths
- Built end-to-end MPC locomotion control stack for Unitree Go2 with direct torque outputs
- Data-driven real-time performance profiling and optimization (segmented pipeline, collected metrics)
- Reduced MPC compute time to <5ms per 40Hz control tick (vs ~20ms budget) via matrix reformulation and SciPy/CasADi optimization
- Hands-on ROS 2 integration for controller/state estimation/robot communication using topics
- Simulation-to-control workflow using MuJoCo + Pinocchio for linearized models and Jacobians
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