Hi, my name is

Zheng.

Building Real-Time Robot Software.

A freelance robotics engineer with 10+ years of experience shipping production robot software across collaborative, humanoid, and mobile platforms.

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About Me

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Robotics software engineer with over 10 years of experience shipping real-time robot software in C++. At Franka Robotics, I spent 7 years building the behavior and control stack for one of the most widely used collaborative robots in research — and co-authored 7 patents on dual-arm coordination and impedance control along the way.

Today I work as a freelance roboticist, combining CANOpen, modern C++, ROS 2, and control theory to build things that move. I’m equally comfortable working close to the hardware as I am designing high-level robot behaviors or setting up CI/CD pipelines.

Technologies I work with
  • ROS / ROS 2
  • Real-time Control
  • Kinematics
  • Impedance Control
  • CANOpen
  • C++ 11/14/17/20
  • Python
  • CUDA
  • Linux
  • Docker
  • CI/CD
  • Git
  • Nvidia Omniverse

Services

Real-time C++ Development
High-performance robot software in modern C++ (up to C++20) with deterministic timing guarantees for 1 kHz control loops and safety-critical systems.
ROS 2 Integration & Migration
Full-stack ROS 2 development — from custom controllers and hardware interfaces via ros2_control to system-level architecture and launch infrastructure.
CANOpen / Fieldbus Integration
CiA-402 compliant motor drivers, CANOpen device profiles, and hardware abstraction layers connecting industrial fieldbuses to ROS.
Digital Twin & Simulation
Nvidia Omniverse-based simulators, automated URDF generation, and virtual device mocks for testing and validation without physical hardware.
Robot Software Architecture
Behavior stacks, state machines, CI/CD pipelines, and profiling toolchains for maintainable, testable robot software at scale.

Open Source

Koch Robot Teleop
ROS 2 ros2_control Screw Theory ESP32
Koch Robot Teleop
Claw-machine-style teleoperation of 3D-printed Koch robots using ESP32, picoRoS, Zenoh, screw theory kinematics, and ros2_control.
ob-lean4
Emacs Lisp Lean 4 Org-babel
ob-lean4
Emacs org-babel package for evaluating Lean 4 code blocks — bringing interactive theorem proving into org-mode notebooks.
Libtorch Examples
C++ PyTorch CMake
Libtorch Examples
Collection of C++ examples using PyTorch's libtorch frontend — covering function approximation, LSTM, and time series prediction.
PlanarMechanics
Modelica Multi-body
PlanarMechanics
Open-source Modelica library for planar multi-body mechanical systems, developed at DLR.

Get in Touch

Have a robotics challenge? Let’s discuss how I can help. I’m open to freelance projects and consulting.
Mail Me