RM2024 Hero Robot
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.
- Integrated the full robot for the RM2024 season; the team received Guangdong Regional first prize and Revival Tournament second prize.
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RM2024 Dart System
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.
- Developed and integrated embedded control across two dart-robot generations.
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Four-Axis Arm Exoskeleton
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An ELEC 3300 course project in which I worked on modeling, motor communication, and torque control for a four-axis arm exoskeleton using MATLAB/MuJoCo and STM32H750 hardware.
My work
- Built and cross-checked the four-axis DH, Jacobian, and RNEA models.
- Acquired IMU/joint state and implemented J4340 MIT motor communication and torque commands.
- Applied gravity/inertia compensation and JᵀF end-effector virtual-force mapping to the actual joint torque output.
- Cross-checked frames and motion direction across MATLAB, MuJoCo, and hardware.
Completion & validation
The course demo demonstrated end-effector and limb motion-intent recognition and assistive motion, with compensation terms applied to joint outputs.
- Cross-checked the DH, Jacobian, and RNEA models using MATLAB modeling, friction-fitting scripts, and MuJoCo simulation.
- Gravity/inertia compensation was applied to physical joint torque outputs; the course demo showed motion-intent recognition and assistance.
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Bipedal RL Locomotion
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.
- Completed simulation-transfer and hardware-interface checks separately. The video juxtaposes simulation and hardware clips.
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Squash Ball Server
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.
- Completed control development, integration, and prototype delivery in three weeks.