Expertise

Robot Simulation (7 yrs)

Bipedal robot simulations using ode solvers and physical engines

Optimal Control (4 yrs)

Research experience about model predictive control, quadratic program-based control and trajectory optimization

Mechatronics (3 yrs)

Embedded system software/firmware development and hardware implementation for bipedal walking experiments

Experience

 
 
 
 
 
May 2018 – August 2018
Florida

Software Intern

IHMC Robotics Lab

Analysis of simplified models of fast runners to get more understanding in stabilities and robustness. Responsibilities include:

  • Simulations using Simulation construction set (JAVA)
  • Trajectory optimization (single-shooting) to find limit cycles (MATLAB)
  • Stability analysis of limit cycles under fast-running conditions (MATLAB)
 
 
 
 
 
May 2017 – December 2017
Massachusetts

Software Intern

MathWorks Robitcs Team

Manipulator algorithm developments in Robotics System Toolbox (RST). Responsibilities include:

  • Workspace analysis.
  • Benchmark of inverse kinematic solvers.
  • Safe trajectory tracking with industrial robot arm (simulation and experiment).
 
 
 
 
 
May 2015 – May 2019
Texas

PhD Student

Texas A&M University, Human Rehabilitation Group

Research of bipedal locomotion and control, and human gait analysis. Main studies include:

  • QP-based controller to integrate model-predictive control with torque control.
  • Trajectory optimizations of bipedal locomotion generation.
  • Human step legnth analysis/estimation using capture point.
 
 
 
 
 
February 2012 – May 2013
Taiwan

Research Assistant

National Taiwan University, Robotics Lab

Development of eletronics of the bipedal mechanism, implementing computed torque control for stair walking. Main tasks include:

  • Upgraded the eletronics from CAN Bus with USB to EtherCAT.
  • Implemented computed torque control with sliding mode for stair walking.
  • An inverse-kinematic solver design to stretching robot leg during walking.
 
 
 
 
 
September 2008 – August 2010
Taiwan

MS Student

National Taiwan University, Robotics Lab

Development of mechatronics of a human-sized bipedal mechanism, and walking controller design for unexpeted terrain height. Main tasks include:

  • Mechanism design and FEA analysis of the bipedal mechanism.
  • Electronic develpopment of the bipedal robot (software/fireware/hardware integration, testing and trouble-shooting).
  • A controller design to adjust robot’s step height with smooth COM trajectory.

Projects

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All Optimal Control Contact Control Experiment

By genealizing the contact constraints, we extended HZD gait optimization to generate walking motion on flat ground, stairs and slopes.
Video

This is the project I contributed as a feature example in Robotics System Toolbox (RST) for MATLAB 2018a.
Project Extended Video

In this project we modified the trajectory optimization thorugh contact, and added several schemes to adjust the gait to be more human-like.
Slides Video

A method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) constraints.
Slides

My MS’s main project: design the bipedal mechanism and the electronics of a human-sized humanoid robot.
Video

The walking controller I developed to adapt step hieght uncertainty with 6-axis force sensor, assumed without the knowledge of the terrain profile.
Video

Selected Publications