ROBOCAM - Team

THE TEAM

Michael Cui

Michael is currently a M.Eng student studying mechanical engineering with a focus in controls. As he is taking EECS 106A, he is also taking EE C220A/B. During his undergraduate career, he has done different mechatronics projects (60-Lb battlebot, Autonomous Hexapod) and has had experience with data analysis and mechatronic system design through internships. Michael focused on working on the Arduino/Raspberry Pi and generating URDF models from existing CAD models.

Sala Tiemann

Sala is a fourth-year undergraduate majoring in mechanical engineering and minoring in mathematics. She is currently working with six-bar tensegrity robots in the BEST Lab with Dr. Alice Agogino, aiming to prove that characteristics of compliant robotic systems can be leveraged towards enabling physical interactions that enhance the efficacy of human-robot interaction. In addition to EECS C106A, she is currently also enrolled in ME193B (Feedback Control of Legged Robots) and previously took ME135 (Design of Microprocessor-Based Mechanical Systems), ME100 (Electronics for the Internet of Things), and ME132 (Dynamic Systems and Feedback). Sala took the lead on the hardware design for ROBOCAM, creating original CAD models in SolidWorks and selecting hardware for the physical assembly of the robotic arm.

Jaiveer Singh

Jaiveer is currently a third-year EECS undergrad at UC Berkeley with experience in competitive robotics and hardware hacks (Boba-making robot, CV smartwatch, marble animatronics). Prior to taking 106A, he took the EE 16 series of courses, EECS 126, and EE120. He has built a strong research and exploration foundation through his time in the Computational Imaging Lab, and as a TA for EE 16B. Jaiveer worked with Sala on CAD, 3D printing, and assembly, Michael on Arduino control and RPi integration, and Ayush on the software structure. He also took charge of designing and implementing a custom URDF based Inverse Kinematics service for ROBOCAM and the ArUco subject tracker.

Ayush Jain

Ayush is a current third-year EECS undergraduate at UC Berkeley. Before taking EECS C106A, he took EE 16A/B, EECS 126/127, and EE120. He has been working as a member of course staff for CS61C, teaching students in lab sections, and as an undergraduate researcher in Professor Alexandre Bayen's Mobile Sensing Lab, working on optimization models for traffic analysis and traffic-mitigating design. Ayush focused on the software components of this project, writing simulation test environments in Gazebo and (as a lighter substitute) in RViz for the ROBOCAM arm. He, along with Jaiveer, wrote the script for a custom RViz plugin to specify desired "keyframes" (poses and timestamps) for the arm, helped debug and refactor a custom Inverse Kinematics service, and wrote the script for a Choreographer node to compute time-dependent waypoints between those keyframe poses as well as publish the custom IK-computed desired joint angles to reach those waypoints w.r.t. the CV-tracked frame of the nonstationary subject.

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