I made an ultra-low-cost ($120) quadruped robot moving base for the MechWarfare competition that I couldn't get a chance to attend. I used a novel spring-and-cable parallel mechanism and a minimalistic open-loop trotting gait generator. The robot achieved 100 mm/s walking speed.

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We made a robot that autonomously solves a maze fast without prior knowledge about the walls. I made the robot hardware (PCB+chassis) and some motion control. My friends wrote the maze solver, state estimation, and a Gazebo simulator.

Photo credit: Brown IEEE

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We made a drill bit sorting system with ABB IRB1600 robot. We made an attachment to a pneumatic gripper that measures the drill bit with a pair of caliper. I wrote a Chrome app to read the caliper reading through an arduino and tell the robot where to drop off the drill bit. It also has a very nice GUI.

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Class project for RBE3002 Navigation. We made a mapping robot that automatically explores the unknown area. We used a turtlebot with ROS nav stack.

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Class project for RBE3001 Manipulation. We made a weight sorting machine. The robot picks up the object and puts it down at different locations based on the weight. We were provided a 3D printed 2-link planar robot arm, and we coded the kinematics, controls, and force feedback in embedded AVR that talks to MATLAB.

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