Semester Projects

Fixed-base Manipulator Throwing

Sep 2022 - Jan 2023 at Learning Algorithm and System Laboratory(LASA), EPFL In short Adapted current mobile-base solution to fix-base manipulators and accelerated the algorithm Explored the bottle flip change with a robot arm(FRANKA EMIKA Panda) Mobile Base Fixed Base Bottle Flip For more detail Report, Code Introduction Throwing is a dynamic manipulation strengthening a given robotic manipulator by causing motions outside its workspace [4]. This ability is highly desirable for industrial applications.

September 1, 2022 | 3 minutes Read

A Gloves-based Joint Pose Sensing System

Jul 2020 - Sep 2020 Center for Vision, Cognition, Learning, and Autonomy (VCLA) at UCLA Advisor: Dr. Hangxin Liu and Prof. Song-chun Zhu The idea is to improve the hardware presented in A Glove-based System for Studying Hand-Object Manipulation via Joint Pose and Force Sensing Designed and implemented a lighter and more effective version of a joint pose sensing glove for future use in collecting pose data of hands Constructed a welding and testing platform at home for experimental use due to the pandemic

July 1, 2020 | 1 minute Read

Interdisciplinary Robot Competition

Feb 2022 - Jun 2022 School of Engineering, EPFL Professor: Auke Ijspeert Supervisor: Alessandro Crespi Coach: Kai Junge In this project, together with Jianan Mao and Ramy Charfeddine, we designed and implemented a soft-gripper robot to collect PET bottle in various terrains. We used a Raspberry Pi running a object detection model(EfficientDet TensorFlow Lite version) to detect the bottles, a Arduino Mega to control motors, servos and sensors to move to target waypoints without colliding with the obstacles.

July 1, 2020 | 2 minutes Read

Module Desk Robot

Sep 2019 - Jan 2021 Intern at The Future Laboratory, Tsinghua University Advisor: Dr. Meng Wang Designed and implemented a modular desk robot that can communicate via infrared; procedures including circuits design, appearance design, PCB design and testing, programming for sensing and communication, and function analysis implemented smart LEGO blocks with different functions Sand Table drove by thousands of motors Modular Desk Robot Cap Touch Sense Ambient Light Sense Head Interaction A Screen A Speaker Body Main Controller Communication via IR light Motor Control Some PCB designs

September 1, 2019 | 1 minute Read

Footroller: Game shoes for the handicapped

Sep 2018 - Jan 2020 Advisor: Prof. Pin Tao Graduation Project for the Technology Innovation & Entrepreneurship Minor Developed a prototype of smart shoes mapping foot gestures to electronic device control in order to assist with the entertainment of the arm-disabled group Designed the interactive rules to transfer foot gestures to system instructions; implemented the hardware device sensing the actions and wrote a Python program to process data into system operations Led weekly group discussions and brainstorms Finished a 25-page report on design and implementation of the Footroller system; awarded Third Prize in 2019 China-US Young Maker Competition in Beijing Rendered Design and our prototype.

September 1, 2018 | 1 minute Read

ROS-based Baxter experiment platform

Sep 2018 – May 2019 in Intelligent Robot Laboratory, Department of Automation, Tsinghua University, with GIX Advisors: Ms. Xichun Ma and Prof. Zongying Shi Drafted the manual of development on Baxter, a two-armed robot that can be programmed for experimental use Awarded First Prize of 30th Student Laboratory Construction Contribution Award of Tsinghua University Developed a gobang playing project with C++, Python and MATLAB, where one can play gobang against Baxter; implemented and integrated modules including image processing via OpenCV, pieces picking and placing, and gobang AI Developed a pose imitation project with C++ and Python that allows Baxter with a Kinect camera to imitate people’s postures by skeletal recognition, pose mapping, etc.

September 1, 2018 | 1 minute Read

Allergy Testing Master: The Histamine Receptor Based Whole-Yeast Sensor

Sep 2017 - Oct 2018 Tsinghua-A, The International Genetically Engineered Machine Competition(iGEM) 2018 Team Advisors: Prof. Xiaowo Wang, Prof. Zhen Xie Implemented a portable device based on Arduino to support fast in-vitro allergy test able to identify allergy via measurement of concentration of E. coil and histamine with light sensing; Drafted a manual on hardware design and usage; conducted performance tests for the measurement of OD600 and fluorescence Submitted to the iGEM 2018 as Team Tsinghua-A; awarded Gold Medal For more info, visit our team website

September 1, 2017 | 1 minute Read