Selected Projects
A selection of representative projects in robotics system design, perception, planning, and autonomous exploration.
Design and Development of Titan: A Humanoid Combat Robot
July 2021 - July 2022
- Designed the full mechanical structure and developed control circuit boards with a custom remote-control pipeline.
- Built control and communication APIs and delivered a PC-based motion editing and visualization interface.
- Received National-level Outstanding Achievement in Innovation and Entrepreneurship and was selected for the 16th National College Students' Innovation and Entrepreneurship Annual Conference.
Multi-sensor Fusion Teleoperation for Robotic Manipulators
September 2022 - May 2023
- Combined eye tracker, RealSense, and Kinect to estimate grasp target position and human-arm posture for grip solution derivation.
- Integrated A* path planning and polynomial interpolation, then established a secure trajectory channel for force-feedback teleoperation.
- Validated in real-world experiments with a 36% accuracy improvement over traditional teleoperation methods.
UAV Swarm Formation Transformation
August 2023 - November 2023
- Improved swarm localization accuracy via UWB, IMU, and vision fusion.
- Applied the Hungarian algorithm to optimize formation-transformation task allocation and reduce energy cost.
- Completed real-world validation with stable formation-switching behavior.
Autonomous UAV Exploration of Unknown Mine Environments
March 2024 - August 2024
- Developed an autonomous UAV system for large-scale underground mine exploration in communication-denied environments.
- Integrated frontier-based exploration with K-TSP viewpoint planning for efficient and lightweight search.
- Used kinodynamic A* and B-spline smoothing to generate safe and smooth trajectories in complex spaces over 1 million m3.