In-house Motor Drivers and a Custom Dynamometer for Quadruped / Humanoid Robotics
MPhil-level hardware work: three iterations of motor driver (V1 stacked → V3 single-board 72 mm), a FreeRTOS firmware running an 80 kHz FOC loop, an EtherCAT...
Recent posts
M20 Wheel-Legged Quadruped: MoE Policy Training, Sim2Sim and Sim2Real Deployment
MPhil-stage RL work on the DeepRobotics M20 wheel-legged platform: an IsaacLab-developed MoE policy validated via Sim2Sim in MuJoCo; the cross-host transport...
ArcDog: Optimal Trajectory Planning and Control for Quadruped Jumping through Constrained Obstacles
MPhil work at HKU ArcLab, submitted to IEEE TIE. A hierarchical TO + kinodynamic NMPC + WBC framework that lets the self-developed ArcDog quadruped jump thro...
SPINE 8M Firmware Download Guide
This is a testing guide written to solve the problem of SPINE.
TI Switching Power Supply Chip - UC2842 Typical Design Circuit Analysis
Summoned by a little cat at the cost of being eaten~