Hybrid Intelligent Experimental Robotics (HIER) Lab

Legged Humanoid and Animaloid Robotics • Loco-Manipulation • Whole-Body Control • Robot Intelligence

The HIER Lab is affiliated with the Department of Mechanical and Aerospace Engineering at NC State University and the Joint Department of Biomedical Engineering at UNC–Chapel Hill and NC State University. We develop intelligent legged robots capable of agile loco-manipulation in complex environments. Our research spans theoretical and experimental robotics, enabling robots to operate safely and efficiently in environments shared with humans and wildlife.

Research

Autonomous Loco-Manipulation

Planning and control frameworks enabling humanoid robots to perform autonomous loco-manipulation tasks.

Hybrid Dynamical Systems

Modeling and analysis of hybrid dynamical systems arising in legged robots with multiple contacts.

Learning-Based Robotics

Applying reinforcement learning and data-driven methods to develop adaptive robotic behaviors.

Tele Whole-Body Control

Developing tele-operation frameworks enabling intuitive control of humanoid robots.

Safety-Critical Control

Studying control theory for ensuring safety of full-body humanoid robots.

Heterogeneous Robot Team

Develoing unified frameworks for collaborating among heterogeneous robots, enabling coordinated loco-manipulation and task execution.

Robotic Hardware Innovation

Designing robotic hardware for efficient and robust mission execution.

Generative AI for Motion

Integrating generative AI with dynamically consistent motion primitives.

Recent News

[2026] NC State highlights Dr. Lee's vision to develop the next “Optimus Prime”. Link

[2025] HIER Lab acquired Franka Research Robot 3 manipulators.

[2025] HIER Lab renovated and fully operational (EB3-1309).

[2025] Dr. Lee appointed Associate Faculty in Biomedical Engineering.

[2025] ICRA 2025 paper accepted.

[2025] ACC 2025 workshop accepted.

Join Our Lab

The 2026 admission cycle is closed. We expect openings for **2027 PhD students** in: 1) Hierarchical RL-based Whole-Body Control, 2) Tele Whole-Body Control of Humanoids. Submit interest form: Application Form You must also apply through the official graduate admissions system.