Primate-Inspired High-Mobility Robot

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.