Research Project |

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.

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.