Selected robotics projects. More coming soon. RoboMaster Robotics Competition Wheel-Legged Balancing Robot A five-bar wheel-legged balancing robot built in 2024 and 2025, balanced by a gain-scheduled LQR. All of the control code runs on an STM32 microcontroller. Project Page Collinear Mecanum-Drive Balancing Robot A four-wheeled balancing robot on collinear mecanum wheels, built in 2023. Balance, forward driving, and lateral driving are handled by PID control on the onboard STM32 microcontroller. Project Page Four-Wheel Mobile Robot Platform A common four-wheel omnidirectional mobile robot platform with a 2-DoF gimbal, developed continuously from 2021 to 2025. Chassis and gimbal were both iterated into different robots for different mobile tasks. Project Page
