Optimization-Base Motion Control | Welcome to Zijian's Academic CV !

Motion Control for Wheel-legged Humanoid Robots

Thu, 10 Oct 2024 00:00:00 +0000

I am developing a wheeled-leg humanoid robot, exploring how to use the robot to assist elderly people, including pushing wheelchairs. I am mainly responsible for the robot’s compliant motion control.

Motion control with Unitree Go1 Max

Tue, 01 Oct 2024 00:00:00 +0000

I have already achieved high-level control using the free SDK. Now, I have taken some low-level tests and make preliminary experiments with compliant control methods.

Compliance Control for Multi-Arm Space Robot crawling

Wed, 01 May 2024 00:00:00 +0000

I addressed the issue of closed-chain force conflicts during the space truss crawling of a multi-arm robot. I proposed a whole-body compliant control strategy, analyzing the force mapping between interactive forces and the base, establishing a compliance model between the floating base and the end-effector Cartesian space.

Compliance Control for Quadruped wheel-legged robot

Thu, 01 Jun 2023 00:00:00 +0000

This robot was designed by my team and me. We have already created a URDF model of the robot and are testing it in Isaac Sim simulation.

Dual-Arm Space Robot Testbed

Mon, 01 May 2023 00:00:00 +0000

I analyzed the dynamics of a floating base for a dual-arm mobile robot based on air bearings, calculating the torque distribution of thrusters and employing MPC optimization to equate energy consumption to PWM output for the solenoid valves, calculating the optimal output force/torque.

Compliance control with Franka Emika Panda Robot

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

I used the Franka Emika Panda robot to test screw screwing, with impedance control in the null space and end-effector Cartesian space to complete the task.