University of Southern California

Robotics Localization, Path Planning, Inverse Kinematics

Overview

Developed algorithms to autonomously localize and navigate an iRobot Create Roomba with a single forward-facing sonar sensor in an unknown environment utilizing particle filtering and RRT to deliver a small and delicate payload to a KUKA arm. Implemented inverse kinematics for arm manipulation to accurately grab and place the payload on a shelf. All steps up to the KUKA arm were also tested and working on actual hardware. Additionally, learned concepts of control theory and how to implement and tune PID controllers.

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