Projects & Reproductions

Here are some projects I’ve worked on and research implementations I’ve reproduced.

LeRobot SO101 Robotic Arm Control

2025

  • Description: Implementation and reproduction of LeRobot framework for SO101 dual-arm manipulation
  • Technologies: Python, LeRobot, OpenCV, HuggingFace, PyTorch
  • Key Features:
    • Dual-camera video synchronization
    • Teleoperation with leader-follower configuration
    • Dataset recording and upload to HuggingFace Hub
    • Real-time robotic arm control and data collection
  • Hardware: SO101 robotic arms (leader & follower), dual cameras (front & wrist)
  • Achievements: Successfully recorded 50 test episodes with synchronized dual-camera data
  • Project Document →
  • View Documentation →
  • GitHub →

Wheel-legged Robot Reproduction Project

2025

  • Description: Mathematical modeling and control algorithm implementation for wheel-legged robot locomotion
  • Technologies: C++, Arduino, robot kinematics, control theory, PID control
  • Key Features:
    • Forward and inverse kinematics mathematical modeling
    • Real-time control loop implementation in C++
    • Dual-mode balance control (wheel + leg stabilization)
    • IMU-based attitude feedback control
    • Teleoperation with RC controller integration
  • Hardware: wheel-legged platform, IMU sensors, servo motors, BLDC motors
  • Technical Achievements:
    • Implemented complete inverse kinematics solver for 5-link leg mechanism
    • Developed cascaded PID control for wheel balancing (speed + angle loops)
    • Real-time sensor fusion and multi-modal control integration
    • Achieved stable teleoperated locomotion with attitude stabilization
  • Learning Focus:
    • Robot kinematics mathematical foundations
    • Control algorithm design and implementation
    • Real-time embedded systems programming
    • Sensor fusion and feedback control systems
  • Project Document →
  • Gitee →

Academic Website

2024

  • Description: Personal academic homepage with interactive features
  • Technologies: Jekyll, HTML/CSS, JavaScript
  • Key Features: Parallax effects, theme switching, responsive design
  • Live Demo → Source Code →

Coming Soon

More project reproductions and implementations are in progress…

For collaboration or questions about any project, feel free to contact me.