Optimization-Base Motion Control

By planning and controlling the Cartesian position of the humanoid robot’s upper body, I enabled the robot to perform actions such as wiping a table.

I personal purchased a Unitree Go1 Max(not EDU) robot and have done some locomotion tests.

Proposed a whole-body compliant motion control strategy to ensure stable contact between the end-effector gripper and the space truss.

We are attempting to perform a stair climbing motion control test for a wheel-legged quadruped robot.

We proposed a weighted-priority-based switching model predictive control (SMPC) method to ensure continuous transitions between different states for efficient sequential operations.

Admittance control tests were performed.