ME314 Team Project

Team 4

"The team that single-handedly completed all the tasks"

Project Overview

For this project, we were tasked with using an XArm7 to complete the following 4 tasks:

Pick up the red cube and place in the green square
Pick up the red peg and place in the hole in the blue square
Pick up the quarter and place in the green square
Pick up the dollar bill and place in the green square

We were allowed to modify the gripper in any fashion we desired, and we were allowed to use a unique gripper for each task, if we so desired. However, our team desired to embrace the challenge of using a single gripper for all 4 tasks - we wanted to "single-handedly" complete all the tasks.

Team Members

Baxter Bartlett

Implemented all state machines for any decision making and robot manipulation
Implemented some of the computer vision strategies

Bryan Jang Yit Tiang

Wrote dollar detection note
Helped in testing grasping pipelines on physical robot

Ethan Whitmer

Wrote coin detection node
Helped develop sequences for grasping and ground calibration

Ina Natseva

Design and making of custom gripper
Advised on grasping algorithm

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