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apajon/README.md

Adrien Pajon

Robotics Software Architect | Control & Optimization | Complex Systems

About

I work at the intersection of control theory, robotics, and real-world systems.

My background combines:

  • Advanced control (MPC, QP, whole-body control)
  • Robotics systems (ROS2, motion planning, multi-axis coordination)
  • Applied research (modeling, simulation, system behavior analysis)

I am particularly interested in bridging the gap between: theoretical models and real system behavior

Current Focus

  • Interaction between motion planning and real-time control
  • Trajectory tracking limitations in ROS2 / MoveIt Servo
  • Optimization-based control under constraints
  • System behavior under latency and integration constraints

Selected Work

  • lifecore_ros2 → ROS2 lifecycle-based system architecture framework (Soon)
  • humanoid walking pattern generators → spline & polynomial approaches
  • soft contact stabilization experiments
  • system integration bridge (mempalace)

Background

  • PhD in Robotics (Humanoid locomotion, MPC, QP, whole-body control)
  • Postdoctoral research (CIRRIS / Amylior)
  • Robotics Software Architect (industrial ROS2 systems)

Contact

Pinned Loading

  1. lifecore_ros2 lifecore_ros2 Public

    lifecore_ros2 is a modular ROS 2 framework designed to structure robotic applications around lifecycle-aware components. It provides a clean separation between nodes and components, enforces strict…

    Python

  2. mempalace-migrator mempalace-migrator Public

    Experimental tool for reconstructing MemPalace data across ChromaDB versions (no correctness guarantees).

    Python

  3. mempalace-mcp-bridge mempalace-mcp-bridge Public

    Plug-and-play MemPalace MCP bridge for VS Code Copilot Chat with persistent memory.

    Shell 3

  4. test_stabilizer_soft_soles test_stabilizer_soft_soles Public

    test of humanoid robot soft soles stabilizer

    C++

  5. WPG_polynomial_-_DE WPG_polynomial_-_DE Public

    WPG tune for HRP-4. based on 5th order polynomials. the deformation estimator of soft soles is also usable

    C++

  6. WPG_spline_-_DE WPG_spline_-_DE Public

    WPG based on deboor bspline with a deformation estimator of soft soles deformations during walking.

    MATLAB