Whole-Body
Control
Hierarchical objectives and constraints across coupled mobile and humanoid systems.
- HQP / QP
- Redundancy resolution
- Joint & workspace limits
Robotics control engineer · Shenzhen
Motion intelligence,
engineered for reality.
I'm Jarvis Men (门嘉伟). I build reliable control systems for humanoid robots—connecting task-level intent to smooth, constraint-aware motion on real hardware.
01
TASK SPACEDesired motion
INconstraints
02
WHOLE-BODY SOLVERHQP / IK / MPC
q, q̇, q̈
03
ROBOT RUNTIMESafe execution
LIVE01
Expertise
Control is where intelligence
meets the physical world.
I work across algorithms, runtime architecture and hardware integration—the layers that determine whether a robot motion is merely possible or genuinely reliable.
Whole-Body
Motion
Generation
Continuous trajectory generation from sparse goals and streamed commands.
- IK / FK / Jacobians
- VAJ-constrained smoothing
- Time scaling
Execution
Runtime
Deterministic command flow, observation and recovery around real robot motion.
- ROS / ROS 2
- Watchdogs & freshness
- Mode arbitration
Robot
Learning
Bridging learned policies with classical constraints and hardware-aware execution.
- VLA execution
- Imitation learning
- Dataset pipelines
02
Selected projects
Selected engineering
case studies.
Representative systems spanning whole-body control, learned-policy execution and production-oriented manipulation.
P/01
Humanoid Dual-Arm Whole-Body Control
A real-time whole-body motion stack coordinating two 7-DoF arms and a 3-DoF torso from end-effector goals to stable joint commands.
- Hierarchical QP task priorities
- Pinocchio FK / Jacobians
- Joint-limit & singularity handling
- Redundancy resolution
- Command smoothing
- Watchdog & reachability
P/02
VLA Motion Execution Runtime
A constraint-aware execution layer that turns model-generated action chunks into continuous, observable and hardware-safe motion.
- Chunk transition continuity
- Velocity / acceleration / jerk bounds
- Adaptive time scaling
- Command-vs-readback FK
- Freshness & epoch guards
- Safe hold semantics
P/03
Mobile Manipulation Whole-Body Controller
Unified coordination for a mobile base, torso and dual arms—balancing reachability, posture and task tracking across the full kinematic chain.
- Shared task-space objectives
- Base / arm coordination
- Workspace expansion
- Mode arbitration
- Teleoperation path
- Constraint priorities
P/04
Industrial Unstructured Bag Picking
A perception-to-action pipeline for selecting and picking exposed flexible packages in cluttered, production-oriented scenes.
- RGB-D candidate generation
- Visible-target ordering
- Suction point selection
- Tactile feedback
- Failure-aware retries
- Independent test protocol
03
Robotics stack
From model math
to motor command.
Fluent across the stack required to turn robotics research into robust systems.
LANGUAGES
C++ · Python · C
ROBOTICS
ROS · ROS 2 · Pinocchio · EtherCAT
CONTROL
HQP · QP · IK · FK · MPC · VAJ
LEARNING
VLA · Imitation Learning · Vision
SYSTEMS
Linux · RTOS · SOEM · Real-time Runtime
04
Patents / IP
Applied ideas,
made defensible.
Published patent applications in robot motion planning and control. Unverified titles are intentionally omitted.
05
About
JARVIS MEN · 2026ENGINEER · BUILDER · SYSTEMS THINKER
I care about the last mile between an elegant algorithm and a robot people can trust.
Trained in Automation at the University of Science and Technology of China, I now develop motion-control systems for humanoid robotics. My work spans whole-body control, trajectory smoothing, singularity-aware IK, robot runtime safety and cross-team integration.
Previously, I built high-precision multi-axis and wafer-transfer robot controllers, achieving ±10 μm system-level commissioning accuracy, ±5 μm wafer-centering compensation and a 4× reduction in PDO communication jitter—from 200 μs to 50 μs.
17Coordinated DoF
250HzCommand stream
30+System fixes
4Patent submissions
2026 — NOWDaimon Robotics
Motion Control Development Engineer · Humanoid & Manipulation
2025Moore Threads
High-Performance Computing Engineer
2023 — 2025SiCarrier
Motion Control Algorithm Engineer · Wafer Transfer Robotics
2019 — 2023USTC
B.Eng. in Automation · Three merit scholarships
Available for meaningful robotics conversations