SLAM From Scratch
This project implements SLAM from scratch on a turtlebot3 hamburger using wheel odometry, LIDAR, an Extended Kalman Filter (EKF), and machine learning.
Teleoperating a Robot Arm with Computer Vision
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
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
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
A python script that plans a trajectory for the end-effector of the youBot mobile manipulator.
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 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
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
Using OpenCV and the Intel RealSense D435i camera to help a PX100 robot arm grab a purple pen out of the air.
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