Archive

I spent three years on the USTC RoboMaster team. This documentary holds a few moments from the year we took second at the national finals.

UC Berkeley. A coordinate-free geometric model, linearized by variation so the discretized system conserves energy, enables stable walking with convex MPC.

USTC RoboMaster Team. Slip detection from wheel contact-point velocities and an LQR controller built on whole-body dynamics.

USTC RoboMaster Team. Lidar, IMU, and encoder fusion with a Kalman filter for localization, plus point-cloud segmentation to judge terrain traversability.