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Humanoid Robot Visual SLAM, Gait Planning, and Control System Programming

Research Assistant
Supervisor: Prof. Yongduan Song & Niu Wang

• Control the humanoid robot Roban to finish a sequence of tasks required by BOTEC

• Developed a localization, mapping, and navigation system based on ORB, OctoMap, and move_base

• Built the robot's model in CoppeliaSim/V-REP to simulated the control algorithm; controlled the gait using a dynamic model which derived from Lagrangian dynamics when it stands on one leg

• C++ Library for Locomotion

The Roban Robot

Robot Simulation (in V-REP)

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