https://mr-tooth.github.io/tags/wheel-biped-transformation/Wheel-Biped TransformationHugoBlox Kit (https://hugoblox.com)en-usThu, 01 Sep 2022 00:00:00 +0000https://mr-tooth.github.io/media/icon_hu_1c0e9cb08cfb822a.pnghttps://mr-tooth.github.io/tags/wheel-biped-transformation/https://mr-tooth.github.io/projects/wheel-biped-transformable-humanoid/Thu, 01 Sep 2022 00:00:00 +0000https://mr-tooth.github.io/projects/wheel-biped-transformable-humanoid/<p>This project developed a humanoid robot capable of autonomous mobility and dexterous operation, with a wheel-biped transformable subsystem for high-mobility locomotion.</p> <p>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.</p> <p>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.</p> <p>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.</p>