HERB (Home Exploring Robot Butler) - Motion Planning
HERB is a bimanual mobile manipulator comprised of two 7-DoF Barrett WAM arms on a Neobotix base,
and Pan-Tilt Schunk PW70 for a neck. It is equipped with a suite of image and range sensors,
including the Carnegie Robotics MultiSense SL and a Structure Sensor.
I tested my algorithms on various constrained space environment for HERB.
UR10 (Universal Robots) - Full Stack
UR10 is the largest robot in the Universal Robots collaborative series with 6-DoF and a payload of upto 10 kg.
I worked on creating end to end system to demo box stacking through this robotic arm.
RoboCup SSL Bots - Software Stack
Member of a team of undergraduates working together to build autonomous soccer playing robots and compete in annual RoboCup league.
In particular I work on perception, motion planning, controls and decision making systems.