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.
Hi, my name is
About Me
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 patent filings 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.
In 2026, I formed and led team Kinetic Nomads, which placed 5th worldwide in the Intrinsic AI for Industry Challenge for flexible cable manipulation and connector insertion.
Technologies I work with- ROS / ROS 2
- Real-time Control
- Kinematics
- Impedance Control
- CANopen
- OPC UA
- C++ 11/14/17/20
- Python
- CUDA
- Linux
- Docker
- CI/CD
- Git
- NVIDIA Isaac Sim
Open Source
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.
C++
PyTorch
CMake
Libtorch Examples
Collection of C++ examples using PyTorch's libtorch frontend — covering function approximation, LSTM, and time series prediction.
Modelica
Multi-body
PlanarMechanics
Open-source Modelica library for planar multi-body mechanical systems, developed at DLR.
Get in Touch
Feel free to reach out to discuss robotics, open-source projects, or technical ideas.