Dmitri Kovalenko

I program robots at @StarshipRobots.
I am both Ex- & Pre-.
I solemnly swear not to post generative AI.

[Dmitri Kovalenko @wfthirtyfour]

This is a hybrid controller that leverages torque sensing to decrease the contact force 40x during the nut tightening.
The impl is open-source, preprint is at https://t.co/O4M2MYbBIF.

Presented recently at 13th ICCMA 2025 in Paris.

#robotics , #engineering

[Dmitri Kovalenko @wfthirtyfour]

@ieeeras My oost about 13th ICCMA 2025 is out!
https://t.co/kLqOIfbaqL

[Dmitri Kovalenko @wfthirtyfour]

(1/3) I was first made aware that Eurostar existed when watched 'Ripley Under Ground' in my late teens. The protagonist in that movie was advancing his grand scheme while constantly travelling between London and Paris.

[Dmitri Kovalenko @wfthirtyfour]

(3/3) Yet, here I am in 2025, that's how I returned home from the 13th ICCMA Conference, where I presented a paper on hybrid control🦾.
The conference was just a blast! The usual post all about it is coming soon!
#iccma @ieeeras

[Dmitri Kovalenko @wfthirtyfour]

We ended up building this
https://t.co/luAJa2qgiS

[Dmitri Kovalenko @wfthirtyfour]

#hackjunction is lit as always.
See you during demos tomorrow...
#uDancer & Airplane-Mode team present

[Dmitri Kovalenko @wfthirtyfour]

Dear Christian,
thank you for the redshift, sir!

#Venezia2025 #physics

[Dmitri Kovalenko @wfthirtyfour]

(3/3) I also never use tmux's tabs or splits.

So the alternative is `shpool`. uses `systemd` to daemonize.

And it does the most important thing - persistent sessions where user can attach/detach, while not affecting the rest of the shell session.

[Dmitri Kovalenko @wfthirtyfour]

(1/3) Wanted to share a find, that is useful to me, and might be usefull for others here:

it's an alternative to `tmux`.

I don't talk about `screen` as I almost never use it, but potentially is an alternative to `screen` as well.

#linux #ProductivityTips #terminal

[Dmitri Kovalenko @wfthirtyfour]

(2/3) tmux is reliable and amazing, but I always felt that it does too much to my session in the terminal emulator. Tmux's own implementation of scrollback is handy when using it from a virtual console outside of the graphical environment, but this would be a niche use-case.

[Dmitri Kovalenko @wfthirtyfour]

A theatre starts with a hanger ...
SLAM development starts with a GT simulator!
#buildinpublic

[Dmitri Kovalenko @wfthirtyfour]

The best place to be when learning indirect state estimation:
* no cell connection
* no electricity
* Baltic sea lo-fi soundtrack on the background

[Dmitri Kovalenko @wfthirtyfour]

Coming back to roots: wrote about my new Gentoo installation.
This time for productivity, and not snobbery.
https://t.co/rBO0ONGdRo

[Dmitri Kovalenko @wfthirtyfour]

@beshkenadze Стаж 10+ лет, хоть убей не понимаю. Про то, что легче крутить руль, когда уже катишься, а не когда машина ещё стоит? Но это общее, к перекрестку не имеет отношения... Поясните 🙏

[spike @spikedoanz]

they don't want you to know this, but you can visualize arbitrarily hyper dimensional spaces in your head.

just keep stacking!

[Dmitri Kovalenko @wfthirtyfour]

with small changes, these controllers handle rotational trajectories as well. Thanks @ToyotaResearch for the amazing simulation software - Drake.

[Dmitri Kovalenko @wfthirtyfour]

When healthy people compile their Christmas dinner menus, robotics enthusiasts finish compiling their projects!
While these days I scrabble to do both, I'm glad to share the results of my study of contact-rich manipulation.
Robot's goal is to track a slope while keeping contact.

[Dmitri Kovalenko @wfthirtyfour]

Specification of controllers and the code is at https://t.co/Njm6qbQVa5

[Max Fagin 🚀🔴🌐☄🌘 @MaxFagin]

Just dropped: The most ambitious h(V) diagram I have ever seen 🤩. Definitely getting this blown up and printed for the office.

Credit: Javier Urzay, AFRL, June 2024
https://t.co/kjXItncAAT