SLAM From Scratch

SLAM From Scratch

This project implements SLAM from scratch on a turtlebot3 hamburger using wheel odometry, an Extended Kalman Filter, and machine learning.

Robot Arm Teleoperation Through Computer Vision Hand-Tracking

Robot Arm Teleoperation Through Computer Vision Hand-Tracking

This project controls the Franka Emika Panda robot arm via teleoperation and computer vision.

Advanced Robot Manipulation and Admittance Control on the Franka Panda Robot Arm

Advanced Robot Manipulation and Admittance Control on the Franka Panda Robot Arm

Using robot manipulation, admittance control, computer vision, and machine learning to play word games with the Franka robot arm.

Wireless, Motion Controlled Differential Drive Robot with Gripper

Wireless, Motion Controlled Differential Drive Robot with Gripper

A differential drive robot with a gripper mounted to the front, for the purpose of grabbing people’s ankles. This project was highlighted in an article by McCormick Computer Science!

Feedforward Plus Feedback Control for Mobile Manipulation With the youBot

Feedforward Plus Feedback Control for Mobile Manipulation With the youBot

A python script that plans a trajectory for the end-effector of the youBot mobile manipulator.

Rapidly-Exploring Random Tree (RRT) Path Planning

Rapidly-Exploring Random Tree (RRT) Path Planning

This project implements the rapidly-expanding random tree algorithm, first developed by Steven LaValle in 1988.

Realistic Physics Simulation: Jack in a Box

Realistic Physics Simulation: Jack in a Box

Realistic simulation of a toy jack bouncing around inside a box using the Euler-Lagrange equations with fully-elastic impacts.

SLAM Frontier Exploration with Visualized Wavefront Planning

SLAM Frontier Exploration with Visualized Wavefront Planning

Using the ROS2 slam_toolbox and NAV2 packages to help a robot explore and map its environment.

Computer Vision Aided Robotic Arm Manipulation for Grasping Objects

Computer Vision Aided Robotic Arm Manipulation for Grasping Objects

Using OpenCV and the Intel RealSense D435i camera to help a PX100 robot arm grab a purple pen out of the air.