Developed a contact-rich vegetable peeling solution on a humanoid dual-arm robot using CNN-based and Mamba-based diffusion policies, jointly modeling action trajectories and target contact forces from multimodal observations.
Build the MuJoCo simulation environment for humanoid dual-arm robot and creating the demonstration collection pipeline based on data glove.
Designed a self-designed 6-DoF robotic arm, where a series of kinematics&dynamics analysis and functions are realized.
Designed a bionic frog robot with jumping function, swimming function and amphibious mode conversion function.
Realized iterative design process and machining process plan, including structural manufacturability improvement, machining process planning, dimensional chain calculation and accuracy checking.