Other engineering projects

Project content

Owned the complete embedded system for the hero robot, integrating chassis, gimbal, launcher, vision communication, referee constraints, and fault recovery into a competition-ready real-time system.

My work

• Implemented mecanum chassis, two-axis gimbal, friction-wheel, and feeder loops.
• Integrated vision and referee data for targeting, heat, power, and firing permission.
• Built follow, spin, free-control, and reset modes with jam and communication recovery.
• Handled inter-board communication, supercapacitor integration, and field tuning.

Completion & validation

Completed my first full chain from low-level drivers to vehicle task modes, contributing to a first prize at the RM2024 Guangdong Regional and second prize in the Revival Tournament.

• Tested chassis, gimbal, and launcher separately before repeated full-robot regression in training and competition.
• Exercised jam recovery, thermal limits, and disconnected-state handling.
• Contributed to RM2024 Guangdong Regional first prize and Revival Tournament second prize.

Project content

Took over the dart system mid-season and reorganized launch, recovery, loading, and yaw control around existing mechanical constraints across two robot generations.

My work

• Mapped the inherited control, sensing, and mechanical boundaries.
• Implemented four-wheel launch, feed/recovery, yaw, and target selection.
• Used limits, stall current, and timeouts to determine completion or faults.
• Organized manual, reset, and automatic modes across two mechanical generations.

Completion & validation

Consolidated scattered actions into an explicit state machine with interlocks, limits, and recovery, supporting field target selection and the full launch sequence.

• Verified limits, stalls, timeouts, and manual reset before testing the complete launch cycle.
• Repeated integration across two robots so the control boundary survived mechanical changes.

Project content

Built the modeling, communication, and torque-control chain for a four-axis arm and exoskeleton course project, taking MATLAB/MuJoCo verification onto STM32H750 hardware.

My work

• Built the four-axis DH model, Jacobian, and basic inverse-dynamics checks.
• Acquired IMU/joint state and implemented J4340 MIT motor communication and torque commands.
• Mapped desired end-effector force to joint torque with JᵀF.
• Cross-checked frames and motion direction across MATLAB, MuJoCo, and hardware.

Completion & validation

Implemented IMU and four J4340 motor-state acquisition, MIT torque control, and end-effector force mapping through the Jacobian transpose for the course demonstration.

• Verified joint direction, workspace, and torque signs in simulation before low-torque hardware tests.
• Completed the required exoskeleton-input and arm-following course demonstration.

Project content

Built an Isaac Lab training, MuJoCo sim-to-sim, and STM32G4 hardware-interface pipeline covering IMU, ten joint states, ROS/UART, and motor commands, with simulation transfer and hardware-interface validation completed separately.

My work

• Defined an Isaac Lab Direct Task with observations, actions, rewards, randomization, and perturbations.
• Handled RSL-RL/PPO training, playback, policy export, and MuJoCo sim-to-sim.
• Acquired IMU and ten-joint state on STM32G4 and exchanged observations/actions over ROS/UART.
• Integrated DM and RoboStride motors and verified scaling/direction from policy output to actuator command.

Completion & validation

Completed RSL-RL/PPO training and export, MuJoCo transfer checks, and separately validated the ROS/UART observation-action path to DM and RoboStride motors.

• Replayed policies in independent MuJoCo simulation to check action scale and coordinate conventions.
• Validated sensing, communication, and motor control separately before policy output was enabled.

Project content

Delivered the embedded prototype for a squash ball server in three weeks, sequencing dual flywheels, yaw/pitch servos, recovery, and remote trigger into a repeatable machine.

My work

• Integrated STM32H723, FreeRTOS, and motor/servo drivers.
• Implemented dual-flywheel speed loops, yaw/pitch positioning, and remote trigger.
• Built launch, recovery, and reset states with limit and ready interlocks.
• Completed module testing, full-machine integration, and demonstration within three weeks.

Completion & validation

Delivered an STM32H723 + FreeRTOS prototype with speed levels, launch/recovery interlocks, limits, and a clear ready state.

• Checked flywheel regulation, servo range, and limits before repeating full launch/recovery cycles.
• Tested multiple speed levels and consecutive triggers for repeatable demonstration.