Media

Public Presentation Video

Final System Demo Encore

Mockup (02/22/21)

Motor and Sensor Labs (02/24/21)

System Demo 1 (03/03/21)

End effector mounted on arm

Full robot arm

3D printed granular jammer holder

CAD for 3D printed jammer

Colored point cloud registration

gazebo_kinematics-2021-03-03_17.59.50.mp4

Forward and inverse kinematics in Gazebo

System Demo 2 (03/10/21)

Device localization using end-effector camera

Granular jammer prototype

Imprint of valve on jammer

Imprint of breaker switch on jammer

Added gamma correction to improve thresholding

System Demo 3 (03/17/21)

Preliminary localization work with IMU and ultrasonic sensor

Testing HEBI Scope on full robot arm

Reading 4 ultrasonic sensors' data from Nucleo

Determine the states of different valves:

spigot.mp4

shuttlecock.mp4

wheel.mp4

shuttlecock2.mp4

System Demo 4 (03/24/21)

Inverse kinematics with gravity compensation on physical arm

CAD of machined top plate

Buck-boost power converter design

System Demo 5 (03/31/21)

arm_jerk_fix.mp4

Jerk fix with arm trajectory generation

localization.mp4

Localization from unknown pose using four ultrasonic sensors and an IMU via a Gaussian sum filter

Assembled chassis and arm assembly

Kazam_screencast_00002.mp4

Determine breaker states when the Realsense does not stay still

System Demo 6 (4/14/21)

Controlling arm with visual feedback

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