ME 314 - Robot Dexterity
Final Group Project
Group 6: Rohan Punamiya, Naixiang Gao, Jiaqi Shao
Embedded Files
Robotic Dexterity: Principles and Practice | Stanford Graduate Mechanical Engineering
Overview
Overview
The goal of the project was to equip a robot arm (XArm7) with dexterous manipulation capabilities, making it an effective collaborator and assistant for a human counterpart. By using computer vision and force feedback, we designed several grippers and grasping policies for the robot to autonomously execute various pick-and-place tasks.
Pick and Place
Visual Perception, Control/Motion PlanningPick and Place
This task involves detecting a block and target location with a camera and using a ROS motion planner to plan a safe, collision free trajectory to pick and place the block.
Coin Pickup
Visual Perception, Control/Motion Planning, Gripper DesignCoin Pickup
This task involves detecting a penny on a table, retrieving it, and placing it in the target zone.
Peg in Hole
Visual & Force/Tactile Perception, Control/Motion PlanningPeg in Hole
This task involves detection of peg and hole location with visual perception, and using force feedback to determine if the peg has been placed in the hole.
Flat Dollar Bill Pickup
Visual Perception, Control/Motion Planning, Gripper DesignFlat Dollar Bill Pickup
This task involves detecting a dollar bill on a table, retrieving it, and placing it in the target zone.
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