ME 326: Collaborative Robotics
Final Project
Team 1: Aditya Dutt, Ankush Dhawan
Goal of the Project
Perform collaborative resource gathering task without the use of digital communication to pick and place block according to a resource specifications
Build two assemblies: Copy of our collaborating team's resources, and our own resource task
Interaction Demonstration
Core Functionality
Perception
Determine the pose of the blocks using the RealSense camera, and transform those coordinates to the robot's frame.
Navigation
Move the robot base to the blocks location using the perception service.
Plan a motion to the block using MoveIt, and pick up the block using the gripper.
Collaboration
Identify the collaborating team's robot task, and mimic their pattern to gather the appropiate resource.Â
Use an Event-driven Hardware Abstraction Layer to implement the collaborative strategy
Overall Demonstration
Locobot_video.mp4Questions?
View our GitHub: https://github.com/ankushDhawan5812/collaborative_robotics_course
View our presentation: https://docs.google.com/presentation/d/1lX2VaWlhJCOqL8bzYO8khQEMW5D8rS0AR-Yb2a50W14/edit#slide=id.g2c2b13f5fe9_0_334
Contact asdutt2@stanford.edu and ankushd@stanford.edu to get more information on the project!