Self Evaluation

我是港科大计算机工程大三学生，机器人副修，人工智能延伸主修。主要方向是嵌入式电控系统与机器人控制算法，能力覆盖整车嵌入式架构、控制算法、仿真验证、跨模块调试与团队协作。性格上偏主动、抗压和结果导向，愿意在项目需要时快速学习陌生技术。RoboMaster 让我长期在高压赛场中训练工程判断：根据机器人状态、资源局势和临场故障快速判断与调整策略，同时兼顾可靠性、调试效率和系统可维护性。后担任约 10 人嵌入式组组长，维护 RM2025-Core，并入选 RoboMaster 全明星赛。

Education

Tech Stack

RoboMaster Team Projects

Engineer Robot

RM2025 · HKUST ENTERPRIZE · All-Star Game

5.8sCompetition Record: Fastest 4-Level Ore Exchange

#1, #2Ore Exchange Economy · Difficulty #1 · Success Count #2

All-StarRM2025 All-Star Game

Sole embedded owner for the Engineer Robot group. Integrated the team's first 6-axis manipulator on a mobile swerve chassis for ore pickup, storage, exchange, stair climbing, rescue-robot interaction, and other complex field tasks. The system covered the manipulator/gimbal, chassis, lift, suction end effector, storage pump, FDCAN inter-board communication, and custom isomorphic controller with gravity compensation, damping, and optional force feedback.

STM32G473 (Engineer Robot)STM32G431 (Customized Controller)FreeRTOSFDCAN6-Axis Manipulator on Mobile ChassisURDF / MATLAB ValidationTeleoperation with Force Feedback

R&D Journey

• Phase 1 - 6-Axis Manipulator First Movement
  Built and validated the first prototype: mechanical structure, motor communication, basic kinematics, and URDF/MATLAB model checks.
  ▶ Watch
• Phase 2 — Custom Controller v1: Delta Robot
  Developed a Delta-robot-based haptic controller with impedance control for compliant, force-sensitive teleoperation.
  ▶ Delta impedance control▶ 6-Axis teleop via Delta
• Phase 3 — Final Controller & Full Integration
  Replaced Delta with an isomorphic mini-arm controller for better motion mapping. Integrated arm + chassis into the complete robot. Delivered 5.8s task completion record and #1 match-average scoring efficiency.
  ▶ Ore exchange (lab) ▶ Field test (1st-person POV) ▶ Stairs test (Bilibili)

All-Star Entrance (00:48) → All-Star Competition → Engineering Group Interview →

Embedded Department Leader

RM2025 · HKUST ENTERPRIZE

Led the ~10-person embedded team and maintained RM2025-Core, the shared embedded library used across infantry, hero, engineer, sentry, dart, and other robot projects. The library unified CAN/FDCAN management, DJI/DM/LK motor drivers, IMU/AHRS, referee system, VTM/ROS communication, inter-board FDCAN/Modbus, PID, PowerManager, Chassis/Gimbal Calculator, matrix/quaternion/filter utilities, and SystemView diagnostics. Designed and delivered a ~10-session onboarding course; videos were published on Bilibili.

• Owned feature work, urgent bug fixes, module updates, and pull request reviews
• Delegated sub-projects: power control, motor drivers, serial protocol, DSP/matrix utility library
• Kept cross-robot interfaces stable across infantry, hero, engineer, sentry, and dart projects

Bilibili: Training Series →

Hero Robot

RM2024 · STM32F407

Full embedded system for the RM2024 Hero Robot: mecanum chassis, 2-axis gimbal, friction-wheel shooter, loader, heat and jam handling, ROS/vision communication, monitoring, and gimbal-chassis inter-board commands.

STM32F407/G42-Axis GimbalMecanum ChassisFriction-Wheel ShooterROS/Vision Comm

Dart System

RM2024 · STM32F427

Launch control system for two generations of dart robots. Controlled four friction wheels, pusher, reloader, and yaw motor; used referee dart messages to select outpost/base target, check launch opening status, handle remaining time, and trigger launch timing. Supported manual, debug, reset, and automatic launch modes.

STM32F427Referee SystemFriction WheelsLaunch Sequencing

Swerve-Drive Chassis Exploration

RM2024

Swerve-drive kinematics and control validation for a chassis technology later reused across hero, engineer, infantry, and sentry platforms. Implemented ChassisCalculator support, steering zero calibration, target-speed limiting, maximum steering-rotation constraints, lazy mode, and application-layer validation on the Engineer chassis.

Swerve DriveKinematicsChassisCalculatorZero CalibrationFDCAN

Dual 6-Axis Mobile Manipulator Simulation

RM2026 · MuJoCo

RM2026 host-side simulation, perception, planning, and execution framework for a dual 6-axis mobile manipulator. Covered MuJoCo closed-loop validation, Type III exchange planning, IK and roll search, hpp-fcl collision checking, layered DAG/DP, TOPPRA/quintic trajectory parameterization, PnP/YOLO+HRNet debugging, ROS2 host nodes, and host-MCU protocol interfaces.

MuJoCoROS2Dual-ArmPlanningTOPPRAPnP

Course Project

4-Axis Exoskeleton Arm

HKUST ELEC 3300 · STM32H750 + FreeRTOS · 2025

STM32H750 + FreeRTOS exoskeleton arm with four J4340 MIT-mode joint motors and a wrist IMU. Built DH-link, Jacobian, and RNEA inverse-dynamics models, mapped endpoint virtual force to joint torque through J^T F, and used IMU attitude/acceleration feedback for human intent sensing and real-time assistive force control. The controller also handled joint-state updates, gravity/inertia compensation, MIT-mode torque output, and MATLAB-based friction/model validation.

STM32H750FreeRTOSJ4340 MITRNEAJacobianMATLABIMU

Contract Projects

Biped Robot RL Locomotion

Contract · Isaac Sim + MuJoCo · PPO · 2025

Isaac Lab/Isaac Sim + MuJoCo Sim-to-Sim and Sim-to-Real pipeline for humanoid biped locomotion. Built direct tasks, RSL-RL/PPO Actor-Critic training, policy play/export tools, MuJoCo sim2sim validation, disturbance/randomization tests, and an STM32G4 bridge that streams IMU and 10 joint-motor states over ROS/UART and receives policy actions. Also handled DM/RoboStride motor bring-up for real-robot deployment.

Isaac LabMuJoCoRSL-RLPPOSim-to-RealROS/UART

Squash Ball Serving Machine

Contract · STM32H723 · 2026 · 3 Weeks · Delivered

Product-prototype embedded control system on STM32H723. Implemented dual M3508 friction-wheel speed closed loop, yaw/pitch servo aiming, launch/retract state machine, remote-triggered firing, multi-level velocity settings, gimbal limits, and shooter-ready thresholds; delivered a working prototype in three weeks.

STM32H723M3508Servo GimbalShooter State MachineProduct Delivery

Open Source

Note: the majority of RoboMaster codebases reside in the team's private GitHub organization. Course and contract project repositories are also private.

Honors

Journey

• 2023
  Two introductory mini-cars (team project). Passed the RM entry exam. Started embedded work on the Hero Robot.
• 2024
  Hero Robot. Dart System. Swerve-drive chassis exploration. Open-source chassis power-control algorithm. RMUL 2024 Guangdong Station First Prize and RMUC 2024 Revival Tournament Second Prize.
• 2025
  Embedded Department Leader (~10 ppl). RM embedded training course (Bilibili). RM2025-Core maintainer. Engineer Robot (6-axis manipulator + custom controller). All-Star. 5.8s record. Economy #1. RL biped locomotion (contract). 4-axis exoskeleton arm (course). RMUL Zhejiang Station Champion.
• 2026
  Squash ball serving machine — delivered in 3 weeks (contract). FYP: modular snake robot. Seeking internship in embedded / robotics.