Projects |

OpenClaw Guide for Beginners

Tue, 05 May 2026 00:00:00 +0000

OpenClaw-Guide-for-Beginners is a hands-on guide for deploying an OpenClaw AI assistant.

It documents platform deployment, API configuration, and platform integration for users who want a 24-hour online assistant setup.

robot-motion-player

Sat, 18 Apr 2026 00:00:00 +0000

robot-motion-player is an open-source Python tool for visualizing and editing AMP motion datasets in legged locomotion and trajectory optimization workflows.

It supports research iteration around motion data inspection, editing, and deployment-oriented locomotion tooling.

AStarFootstepPlanner

Thu, 09 Apr 2026 00:00:00 +0000

AStarFootstepPlanner is an open-source C++ planner for humanoid robot footsteps.

It searches feasible footstep sequences on complex terrain while respecting kinematic constraints, making it a compact baseline for motion planning experiments and teaching.

Heuclid

Thu, 09 Apr 2026 00:00:00 +0000

Heuclid is a lightweight C++ geometry and vector math library for robotics codebases.

It provides 2D/3D primitives, convex polygon tools, and spatial query utilities for planning and control projects that need a small, readable geometry layer.

CoppeliaSim Tutorials for Beginners

Fri, 20 Mar 2026 00:00:00 +0000

Coppeliasim-Tutorials-for-Beginners provides bilingual tutorials for robotics simulation with CoppeliaSim.

The repository is intended for beginners who need presentations, code examples, and simulation models in one place.

Multimodal Locomotion and Operation for Biomimetic Legged Robots

Tue, 01 Apr 2025 00:00:00 +0000

This project studies heterogeneous reconfiguration and multimodal locomotion for biomimetic legged robots.

My work focuses on multimodal control algorithm development. I expanded the command space for multimodal motion, designed implicit state estimation with a variational autoencoder, trained reinforcement-learning policies for multimodal locomotion, and supported sim-to-real deployment.

The current capability targets complex-terrain walking, fall recovery, quadruped crawling, vehicle riding and separation, and other mode transitions on legged robot platforms.

Humanoid Robot for Firefighting Scenarios

Sat, 01 Jul 2023 00:00:00 +0000

This Beijing science and technology project focuses on humanoid robots for firefighting scenarios and mixed unstructured terrain.

I served as the Ph.D. student lead, coordinating project milestones, personnel allocation, progress checks, and technical reports.

On the algorithm side, I developed a layered mapping-optimization-reconstruction framework for complex foot-ground interaction. The method uses low-dimensional manifold motion modeling, safety trajectory optimization, efficient trajectory library construction, and fast trajectory reconstruction to support stable omnidirectional locomotion over stairs, slopes, and low obstacles.

I also handled project documentation and acceptance material, including proposal material, milestone reports, annual reports, science and technology reports, technical summaries, and third-party test plans.

Humanoid Robot Demonstration and Field Delivery

Thu, 01 Jun 2023 00:00:00 +0000

This industry-facing work was carried out during internships at Beijing BIT Huahui Intelligent Technology Co., Ltd.

My role focused on motion-control algorithm development, on-site demonstration support, and project delivery. I supported the 2023 World Robot Conference demo filming and live demonstration, then contributed to a field delivery project that included one special humanoid robot platform and a motion-control software package.

This page is an initial public summary. Confidential project details, customer information, and non-public acceptance material are intentionally omitted.

Wheel-Biped Transformable Humanoid Robot

Thu, 01 Sep 2022 00:00:00 +0000

This project developed a humanoid robot capable of autonomous mobility and dexterous operation, with a wheel-biped transformable subsystem for high-mobility locomotion.

I built the biped robot system integration and software architecture. The real-time layer used RTOS and EtherCAT communication, with shared-memory multiprocessing and board-level device interface encapsulation for 0.25-1 kHz hybrid force-position control. The non-real-time layer integrated perception, planning, control, manipulation, and multithreading modules.

I also designed the wheel-foot transformable subsystem, including a minimal active/passive wheel retrofit, motor selection and verification, prototype testing, and electromechanical-control joint debugging.

For motion control, I proposed a key-phase decomposition guided particle-swarm trajectory optimization method and designed coordinated compliant control for the upper body, ankle, and foot, enabling adaptive mode switching and high-speed wheeled motion on unstructured terrain.

Primate-Inspired High-Mobility Robot

Wed, 01 Sep 2021 00:00:00 +0000

This national key R&D project studied primate-inspired high-mobility robot motion, including prone locomotion and omnidirectional walking.

For biomimetic motion planning, I designed a central-pattern-generator based planning method to coordinate limbs during low-posture crawling, supporting stable crawling and slope climbing. This work led to one authorized invention patent and one EI paper.

For bipedal walking, I proposed a multi-frequency decoupled planning architecture from command velocity to foot placement and gait generation. The controller combined quadratic-programming based footstep pose planning with model-predictive gait trajectory planning, enabling command-following omnidirectional walking and dynamic obstacle avoidance. This work led to two authorized invention patents.