The Hybrid Intelligent Experimental Robotics (HIER) Lab focuses on both theoretical and experimental research in the field of legged loco-manipulation for real-world robotic deployment. Our research seeks to advance the fundamentals of agile and versatile loco-manipulation in environments where humans and robots coexist, as well as in wildlife settings. The detailed scope of research in our group includes the following areas: 1) Formulating planning and control frameworks for autonomous task execution. 2) Investigating hybrid dynamical systems with multiple contacts. 3) Developing innovative hardware for more efficient and versatile mission completion. 4) Applying learning techniques to devise adaptable solutions for complex problems. 5) Integrating generative AI with dynamically consistent motion primitives.

Recent News

[new] HIER Lab is actively seeking passionate and self-motivated prospective students for robotics research.
[new] New robots Go2 with Hesai XT16 LiDAR have arrived at our lab.
[new] Our paper "Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers" has been accepted to CDC 2024.

Recent Videos