Humanoid Robots |

Started research internship at HKUST(GZ) Embodied Intelligence Research Institute

Thu, 14 May 2026 16:00:00 +0000

I started a research internship at the Embodied Intelligence Research Institute, The Hong Kong University of Science and Technology (Guangzhou).

The work focuses on cerebrum-cerebellum coordinated control for humanoid robots and data-driven dynamics representation for embodied intelligence.

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.

First-author paper accepted by ISA Transactions

Wed, 01 Jan 2025 00:00:00 +0000

My first-author paper, “Towards high mobility and adaptive mode transitions: Transformable wheel-biped humanoid locomotion strategy”, was published in ISA Transactions.

The paper is part of my work on transformable humanoid locomotion, wheel-biped mode transition, and robot motion-control strategy design.

Completed key milestones for firefighting humanoid robot project

Sun, 01 Dec 2024 00:00:00 +0000

I completed key research and project-delivery work for a Beijing science and technology project on humanoid robots for firefighting scenarios.

My work covered milestone coordination, technical documentation, terrain-aware gait planning, mixed-terrain locomotion, and node acceptance material.

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.

Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion

Sun, 01 Jan 2023 00:00:00 +0000

Imported from the Google Scholar-derived BibTeX seed. Add DOI, PDF, and full venue details when available.

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.

Low-centroid crawling motion for humanoid robot based on whole-body dynamics and trajectory optimization

Sat, 01 Jan 2022 00:00:00 +0000

Imported from the Google Scholar-derived BibTeX seed. Add DOI, PDF, and full venue details when available.