I worked with a team of 4 cross-functional engineering students to design the physical chassis, sensor mounts, sensing architecture, and controls.  We created a self-driving RoboTaxi that is also capable of a remote manual override in scenarios deemed infeasible.

Contributions and Results:

• Acted as Mechanical Design Lead designing and 3D printing the chassis and all hardware mounts for components using Onshape (3D CAD Modeling)

• Created architecture for Object-Oriented Programming structure and scripted

  • Ultrasonic Sensor data processing and distance measurement

  • Obstacle avoidance maneuvers

  • Lidar data processing and plotting of mapped surroundings

Hardware:

• 2D Lidar (EAI YLIDAR X4 360 Degrees)

• Ultrasonic Sensors (HC-SR04)

• Stepper Motors

• Motor Drivers

• ESP32

I worked with a team of 4 cross-functional engineering students to design the sensing architecture and controls for an automated robotic bartender.

Hardware:

• Sawyer 7 DOF Robotic Appendage

• Gripper Module (Custom designed and printed)

• Intel Realsense Camera

• Strain-Gauge Weight Sensor

• Arduino

Contributions:

• Designed custom 3D printed grippers iterating (see below)

• Scripted and incorporated scale module logic

• Scripted path planning module to select the shortest optimal path that maintains orientation to ensure ingredients wouldn't spill

Results: (See Demo Video)

Created a robot that when given a defined product cup and multiple ingredient cups at random locations within its dextrous workspace; is capable of:

• 1. Identifying ingredient cups and product cup using computer vision.

  2. Grasping the ingredient cups one at a time.

  3. Pouring the contents of the ingredient cups into the product cup to a specified weight.

  4. Returning the ingredient cup to its initial location.