Hello there!

My name is Hung Pham. Currently I am working as a robotics engineer developing cool robots for industrial automation at Eureka Robotics.

My interests lie in motion planning and control for robots. I investigate algorithms that can plan dynamically feasible motions for robots and also control strategies that allow optimal executions.

I used to spend a great deal of time recently working on toppra – a library for planning fast motion for industrial robots. The algorithm can account for dynamic constraints such as joint torques, friction force or suction force from suction cup. See this video for a demonstration of a robot picking objects using suction cup at the fastest possible speed. The relevant papers can be found here and here.

Some of my notes, which are relatively polished to be made available online, can be found here.

Selected works

Below are some of my favourite projects. A more complete list of works can be found in publications or google scholar.

Convex Controller Synthesis for Robot Contact

By Hung Pham and Quang-Cuong Pham, in IEEE Robotics and Automation Letters, 2020. Also presented at ICRA 2020. [paper (arXiv)]