https://mr-tooth.github.io/tags/optimization-control/Optimization ControlHugoBlox Kit (https://hugoblox.com)en-usSat, 01 Jul 2023 00:00:00 +0000https://mr-tooth.github.io/media/icon_hu_1c0e9cb08cfb822a.pnghttps://mr-tooth.github.io/tags/optimization-control/https://mr-tooth.github.io/projects/firefighting-humanoid/Sat, 01 Jul 2023 00:00:00 +0000https://mr-tooth.github.io/projects/firefighting-humanoid/<p>This Beijing science and technology project focuses on humanoid robots for firefighting scenarios and mixed unstructured terrain.</p> <p>I served as the Ph.D. student lead, coordinating project milestones, personnel allocation, progress checks, and technical reports.</p> <p>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.</p> <p>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.</p>