Research on the Locomotion Control of a Bipedal Robot

Overview

This project focused on locomotion control research for a bipedal robot in Beijing (Sep 2022 – Feb 2023).
I served as Locomotion Controller Developer, working on control algorithm implementation and hardware validation.

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Key Contributions

• Implemented the NMPC-WBC (Nonlinear Model Predictive Control – Whole-Body Control) algorithm.

• Conducted hardware experiments under different:
  • Joint configurations
  • Torque transmission designs

  to study the influence of mechanical design on control performance.

• Decoupled the Whole-Body Control (WBC) framework for static standing.

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Research Focus

This work emphasized:

• Integration of NMPC with whole-body control
• Experimental evaluation of mechanical–control coupling
• Practical validation on real robotic hardware

The project strengthened my understanding of locomotion control and the interaction between mechanical design and controller performance.