Wheel-Biped Transformable Humanoid Robot

September 1, 2022 · 1 min read
projects

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.

Research Project Humanoid Robots Wheel-Biped Transformation RTOS EtherCAT Trajectory Optimization
Junhang Lai
Authors
Junhang Lai (he/him)
Ph.D. Candidate in Robotics
Junhang Lai is a Ph.D. candidate at the Institute of Intelligent Robotics, Beijing Institute of Technology. His work focuses on humanoid and legged robot locomotion, motion planning and control, reinforcement learning, simulation-to-real deployment, and embodied intelligence systems.