Class Projects

• Successfully determined joint states to perform three-leg balance stability tests on terrain by estimating CoM

• Wrote an analysis algorithm in Python coupled with PyBullet simulation tool to determine if the robot could negotiate over stable terrain or would avoid unstable terrain.

• Accounted for hardware issues, such as unreliable force data when conducting stability tests

• Designed a system consisting of an ESP32 microcontroller, motor, ultrasonic sensor, and switches to automatically control the opening and closing of a window.

• A Python algorithm was written to gather local weather data over the internet and send commands utilizing MQTT to the microcontroller to automatically open/close the window based on weather conditions. The user also could be notified of the window status change via a text message

Current Design and Functionality

• Provide guides for the placement of ground-level tubes

• Support beams to hold upper-level tubes in place

• Ensure easy to manufacture, cheap, and adjustable parts to ensure beams can be adjusted to align with chassis tubes