About Me
I am a motion control algorithm engineer at Beijing Innovation Center of Humanoid Robotics, where I develop advanced motion control algorithms for the Tien-Kung (天工) humanoid robot.
During my doctoral research, I was a core member deeply involved in developing motion control algorithms for the BHR series of humanoid robots. I am passionate about developing diverse, stable, and robust whole-body motion controllers for humanoid robots.
Research Interests
Education & Experience
Publications
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High-Frequency Control for Perturbation Rejection in Dynamic Biped Walking via Sequential Centroidal Model Predictive Control
IEEE/ASME Transactions on Mechatronics, 31(2): 2159–2172, 2025T-Mech SCI Top · IF 7.3
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Online Adaptive Motion Generation for Humanoid Locomotion on Non-Flat Terrain via Template Behavior Extension
IEEE Transactions on Automation Science and Engineering, 21(4): 6563–6574, 2023T-ASE SCI Top · IF 6.4 ICRA 2024
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Adaptive Disturbance Rejection Balance Control for Humanoid Robots via Variable-Inertia Centroidal MPC
Journal of Bionic Engineering, 22(6): 2885–2899, 2025JBE SCI · IF 5.8
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Online Running-Gait Generation for Bipedal Robots with Smooth State Switching and Accurate Speed Tracking
Biomimetics, 8(1): 114, 2023Biomimetics SCI · IF 4.5 Journal Title Story
Projects
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MXSpatialDynLib
An ultra-lightweight robot dynamics library based on the spatial dynamics algorithm, including kinematics, dynamics, and centroidal dynamics computations for legged robot motion control research.
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TrajOptim&MPC
A practical tutorial on trajectory optimization and model predictive control for legged robots. Study material for the graduate course Robot System Design and Application at BIT (Spring 2024/2025).
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TO_Hopper
A TOWR-inspired continuous jumping motion optimizer for a one-legged robot, using direct collocation and hybrid dynamics with phase-based end-effector constraints.