5DOF Robotic Arm
5DOF Robotic Arm
He moves and he grooves!
He moves and he grooves!
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Class Name: ME/CS/EE 134 (Robotic Systems)
Institution: Caltech (Undergrad)
Project Duration: Jan-Mar 2026
Project Description: Tabletop arm that assembles a Lincoln Log structure with a human player
Joint project with Sophia Steven and Kristina Sevier. We all worked on all components of the project together.
Project Work
Project Work
What I learned
What I learned
Skills Exercised/Gained
Skills Exercised/Gained
ROS2 Jazzy and RealVNC
Python OpenCV for object and depth detection
Interfacing with Realsense Depth Camera and webcam
Interfacing with HEBI motors
Onshape for CAD
Laser cutting for fabricating the arms
Position, velocity, and torque-based control and detection
5DOF inverse kinematics with Newton-Raphson
URDF kinmeatic chain creation
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