Design and Development of a Wheeled Bipedal Robot

Overview

This project focused on the design and development of a wheeled bipedal robot in Shanghai (Sep 2021 – Jun 2022).
I served as Team Leader and Locomotion Controller Developer, leading the control algorithm design and system implementation.

---

Key Contributions

• Organized and coordinated a team to design and implement:
  • An LQR-based balance control algorithm
  • A wheel-legged jumping algorithm

• Developed a motion control algorithm for a five-link wheel-legged system on an embedded platform.

• Implemented and integrated:
  • IMU-based state estimation
  • Power control
  • Joint-foot force feedback and control

---

System Capabilities

The final robot was capable of:

• Adapting to uneven terrain
• Performing dynamic locomotion tasks
• Achieving vertical jumps up to 25 cm

---

This project provided hands-on experience in dynamic system control, embedded implementation, and team-level system integration.