NOMADJOE

01 Team project 2026.03—2026.08

Humanoid Dual 7R-Arm Engineering Robot

Embedded Lead · Architecture Design and Algorithm Development

Led development of the onboard control system for a humanoid dual seven-axis arm. Built input routing, task scheduling, and a highly portable layered arm-control framework, with independent 1 kHz control for the left and right arms plus analytical and iterative numerical solutions for 7-axis inverse kinematics. Identified and compensated gravity parameters from multi-pose samples, and adapted the system to the arms’ mirrored structures and joint-to-motor mapping.

• STM32H723
• C++17
• FreeRTOS
• FDCAN
• MATLAB

View code ↗Kinematics reference ↗

02 Team project 2026.07—2026.08

Humanoid Dual-Arm Teleoperation Controller

Embedded Lead · Operator-Side Architecture and Control Pipeline Development

Structured the fourteen-joint mapping and state-acquisition pipeline for the dual-arm operator side, and implemented a command-delivery framework for MIT force-position control. Added gravity compensation to the control pipeline and used Python/MATLAB for gravity-compensation parameter identification and offline validation. The current scope covers only the enabled compensation and validation work.

• STM32G474
• C++17
• FreeRTOS
• FDCAN
• Python
• MATLAB

03 Team project 2025.08—2026.07

Single 6-Axis Arm Engineering Robot

Embedded Lead · Code Architecture, Algorithm Development, and Performance Optimization

Built a layered control pipeline covering inverse kinematics, trajectories, gravity compensation, and coordinated safety handling. Used SystemView and Cache/ITCM observations to locate performance behavior, then continued improving the architecture and algorithms.

• STM32H723
• C++17
• FreeRTOS
• SystemView
• ITCM

04 Team project 2025.08—2025.10

6-DOF Custom Controller

Embedded Lead · Controller System Design and Validation

Built interfaces for teleoperation, joint-to-motor mapping, multitask control, display, and parameter interaction. Completed gravity-compensation parameter identification and incorporated gravity-compensation and damping interfaces into the validation framework, making it easier to check how the control pipeline works together step by step.

• STM32G474
• C++17
• FreeRTOS
• FDCAN
• CMSIS-DSP

05 Personal project 2025.10—2025.11

MotorLib

Driver Abstraction and CAN Management

Implemented a driver abstraction and CAN management exercise for up to four DJI motors. Organized objects with a fixed-capacity registration mechanism and completed the basic frame-packing and receive-dispatch pipeline.

• STM32
• C++
• FreeRTOS
• CAN
• ETL

View code ↗

06 Personal project 2025.11—2026.02

ChipTanks

System Architecture and Full Implementation

Built a tank game that runs on a 128×64 OLED, with the update process organized as a task loop. Used fixed-capacity entity management to connect the OLED display, input, and game-state processing pipeline.

• STM32F103
• C/C++
• FreeRTOS
• ETL
• OLED

View code ↗

07 Team project 2025.05—2025.11

RoboMaster 2025 Engineering Robot

Project Member · Arm Algorithm Optimization, Code Refactoring, and Vehicle Wiring Optimization

Contributed to later iterations of the engineering robot’s arm and control system. My main responsibilities were optimizing gravity compensation and six-axis inverse kinematics, refactoring arm-control code, and building the initial arm components. I also reorganized and optimized the vehicle wiring.

• STM32
• C++
• FreeRTOS
• CAN/FDCAN
• Robot-Arm Kinematics
• Gravity Compensation

08 Team project 2024.12—2025.04

RoboMaster 2024 Engineering Robot

Project Member · Code Maintenance, Application Features, and Chassis Control Optimization

Contributed to development and maintenance during the RoboMaster 2025 regional competition stage. This robot served as the backup vehicle; my main responsibilities were maintaining competition code and developing the fixed-position pickup and placement application. I also maintained cabling, optimized inverse kinematics for the wheel system, and tuned PID parameters.

• STM32
• C/C++
• FreeRTOS
• CAN
• PID
• Wheel-System Kinematics

09 Personal project 2024.08—2024.10

RM Infantry Robot

Embedded Control System Design and Implementation

Independently designed and implemented the embedded control system for an RM infantry robot, covering the chassis, gimbal, remote control, PID, CAN/FDCAN communication, and attitude estimation modules. Integrated the control pipeline and completed system-level testing.

• STM32G473
• C/C++
• FreeRTOS
• CAN/FDCAN
• PID
• AHRS

View code ↗