🙋About Me

I am a master student of Robotics Institute at Carnegie Mellon University (CMU). Prior to that, I received my bachelor degree from Southern University of Science and Technology (SUSTech), with a major in Robotics Engineering.

I am broadly interested in robotics planning and control, and I hope to focus on legged systems in the future.

📝 Publications

Wallbounce : Push wall to navigate with Contact-Implicit MPC

Xiaohan Liu*, Cunxi Dai*, John Z. Zhang, Arun Bishop, Zachary Manchester and Ralph Hollis

[Under Review]

Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation

Cunxi Dai*, Xiaohan Liu*, Koushil Sreenath, Zhongyu Li, and Ralph Hollis

[Under Review]

Wheelchair Maneuvering with a Single-Spherical-Wheeled Balancing Mobile Manipulator

Cunxi Dai*, Xiaohan Liu*, Roberto Shu, and Ralph Hollis

[IROS 2024 Oral Presentation] [arxiv] [video]

SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

Cunxi Dai, Xiaohan Liu, Jianxiang Zhou, Zhengtao Liu, Zheng Zhu and Zhenzhong Jia, ROBIO 2022

[IEEE]

SWheg: A Wheel-Leg Transformable Robot with Minimal Actuator Realization

C. Dai*, X. Liu*, J, Zhou*, Z. Liu, Z. Zheng, Z. Jia

[arxiv] [github] [video]

🤖 Projects

NMPC controller for Wheel-leg robot

A nonlinear model predictive controller based on ocs2 and ros-control. The floating-base dynamics was derived under the base frame, so there is no need for state estimation.

[video] [slide]

RL based whole-body operation controller for quadrupedal robots

My undergraduate thesis. We trained a controller to make the robot climb, lean on the wall, and use its forelimbs to press a point on the wall.

3-Dof Hopping controller for Delta Hopper Robot

A hopping controller for CMU GOAT robotic leg. The robot can jump in all directions at desired height and velocity when its orientation is constrained.

[video]

RoboMaster Teach Pendant

A Visual-SLAM based teach pendant for Robomaster ‘Engineer’ robot.

[video1] [video2]

RoboMaster 'Hero' robot and 'Engineer' robot

Competition robots designed for Robomaster 2021 season. I was responsible for the embedded system software development.

Oculus-ROS

ROS Interface for Oculus Quest 2 based on the ROS# Unity plugin and Oculus Unity integration.

Cheetah Seven

DND Character, Warforged (quadrupedal), level 7 clockwork sorcerer.

🎖 Honors and Awards

2021.08, RoboMaster 2021 University Championship National First Prize(Top 16)
2021, The Undergraduate Training Program for Innovation and Entrepreneurship Funding (National level)
2023.08, RoboMaster 2023 University Championship National First Prize (Top 16)

📖 Education

2023.08 - now, M.S in Robotics, Carnegie Mellon University, Pittsburgh.
2019.09 - 2023.06, B.Eng. in Robotics, Southern University of Science and Technology, Shenzhen.