Research Experience

• Design Principle and Motion Control Simulation of Pseudo-open-chain Mechanism of Overconstrained Quadruped Robot Limb
  • Developed a novel overconstrained quadrupedal robotic limb based on Yu & Baker’s 6R mechanism, achieving structural integrity (factor of safety >2.5) and kinematic precision through topological optimization and additive manufacturing.
  • Demonstrated morphological and functional equivalence to conventional open-chain designs via CAD simulations.
  • Implemented a hierarchical reinforcement learning framework (RSL_RL) in NVIDIA Isaac Sim with proprioceptive-terrain fusion state representation, achieving 92% terrain adaptation success rate in unstructured environments.
  • Forthcoming paper for IEEE RA-L; Preparing an extended version for IJRR and IEEE TRO; Open-source framework with URDF specifications and IsaacLab integration Release v1.0 pending.

• Investigating Overconstrained Locomotion using Reinforcement Learning
  • Minimized physical collisions of the model to reduce computational overhead for 38%.
  • Wrote 1088 lines code in total for configuring the robot’s physical properties, initial position, motor parameters, environment integration, articulation motion rate adjustment, random state addition, and reward function design.
  • Published an ISRR paper and a ReMAR paper
  • Won 3 prizes of 23rd National CURC RoboCon 2024 Bionic Foot Robot Challenge, and the “Challenge Cup” Guangdong College Student Entrepreneurship Plan Competition Gold Award(0.4%)

• Flexible Multi-Channel Electrical Stimulation System for Assisting Grasping in Patients with Hemiplegia
  • Configured 15 existing robotic arm gripping framework. Developed a method to determine reasonable gripping positions and finger spreading widths.
  • Assisted in constructing the hardware system and used MediaPipe for gesture recognition and data extraction.
  • Published two IEEE ICARM papers with one being second author.

• An Effective Head-Based HRI for 6D Robotic Grasping Using Mixed Reality
  • Developed a point-cloud diffusion method to recognize and reconfigure objects using Unity, utilized HoloLens2 to enable the robotic arm to complete gripping tasks.
  • Published a patent and an IEEE RA-L paper, won Second Prize in the “Xiake Cup” Innovation and Entrepreneurship Competition.
  • Interviewd by Shenzhen TV, reported and transmitted by SUSTech and several self-media channels

Exracurricular Experience

• President, the Robot Club and the School Representative Team at SUSTech
  • Led a 30-member team in skills training, robot construction, and competition preparation.
  • Secured funding, space, and sponsorships.
  • Led a 20-member team to Nanjing University of Science and Technology(Jiangyin) for a 15-day competition, winning 5 National Prizes at the 23rd National CURC RoboCon 2024.

• Volunteer, the Global Engineering Deans Council (GEDC) Industry Forum at SUSTech
  • Provided transportation for VIPs and on-site support.
  • Completed volunteer duties successfully.
  • Discussed academic research and personal development with the Dean of USC’s College of Engineering.

• Minister, Student Union of Shude College, SUSTech
  • Held weekly meetings with department members and the presidium of the student union.
  • Led department members to learn the activity planning process, formulate experience documents and paradigms for holding various activities.
  • Communicate with students from other colleges and universities on behalf of the college.

• Project Manager, the SUSTech Shude College Mid-Autumn “Lake Wish” event
  • Led planning, approvals, team formation, activity design, procurement, and on-site management.
  • Organized a 13-member team.
  • Designed activities like handmade mooncakes, pomelo eating contest, and lake wish event with nearly 200 participants from SUSTech.

• Co-Project Manager, the SUSTech Shude College 2022 Graduation Party
  • Led planning, team formation, activity design, procurement, and on-site management.
  • Organized a 20-member team, coordinated 5 performances, graduation exhibition, custom T-shirt design, and activities for 50 graduates.