I am a roboticist passionate about advancing legged locomotion through the integration of design and control. With a foundation in mechatronic design and hands-on experience building a quadruped robot from the ground up, I bring a deep understanding of how hardware and software interact. During my PhD, I specialized in optimization-based control and planning for legged robots, developing novel algorithms for gait discovery, underactuated systems, and efficient contact feasibility analysis. This combination of design intuition and control expertise allows me to bring a unique perspective to robotic teams, bridging theory with practical implementation.

I received my Ph.D. degree in the Department of Aerospace and Mechanical Engineering at the University of Notre Dame, co-advised by Dr. Patrick M. Wensing (University of Notre Dame) and Dr. Wei Zhang (Southern University of Science and Technology, China).

I designed the first version of the XiaoTian robot in SUSTech, which later ended up as a commercial quadruped robot at LimX Dynamics.

I developed a gait and trajectory optimization algorithm based on A* search and tree representation for a quadruped robot, with only 25 searches per iteration on average. I explored the contact wrench feasibility problem through a geometric sufficient condition. This approach allows for the computation of the sufficient wrench 140 times faster than the traditional second-order-cone-programming method, with only a 7% reduction in yaw moment accuracy, powered by an explicit solution to the force distribution problem on a supporting line.  I have also pioneered the development of a hopping locomotion strategy for a quadruped robot, utilizing a control Lyapunov function-based QP controller in conjunction with differential-flatness-based planning.