ME326 Collaborative Robotics
Team Members
Sam Morstein
Sam is an MS student in Mechanical Engineering. He is interested in robotic manipulation, tactile sensing, and human-robot interaction. In his free time, he likes to go rock climbing and hiking.
Karina Ting
Karina is an MS student in Mechanical Engineering. Her research interests include tactile sensing and robotic control and manipulation.
Joshua Lee
Joshua is an MS student in Mechanical Engineering. He is interested in robotic control and manipulation and physical human robot interaction.
Overview
In order to achieve this task, the robot needed to be able to know which blocks it needed to find, see the blocks it was trying to retrieve using an RBG-D camera, navigate towards the center, pick up the block using its arm, and then navigate back to a collection pile. This could all be achieved using the LoCoBot ws250s from Trossen Robotics, with their on-board sensor stack. Due to integration issues and difficulties, we were only able to integrate this algorithm in simulation. However, we were able to get the above steps into a cohesive find-and-fetch algorithm