Humanoid Robot Manipulation

Project Description

To test a novel loco-manipulation framework, I am collaboratively fabricating a gripper for a humanoid robot and leading the development of the high-level controls code to interface with the gripper for manipulation tasks. The goal of this project is to create a demo on hardware where the robot navigates to a target object, uses the gripper to grab the object, and place it down at a target destination. This project is on-going, set to be completed in December 2022.

Controls

I wrote the control in Python to command the robot to move to a target location, pick up an object, and place it down in a target location in simulation. I am currently working on adding control of the gripper to this script and leading the high-level controls team in creating a complex kitchen-like environment for the final demo.

Hardware

I have collaboratively fabricated the Gel-Sight gripper which will be added to the robot using 3D printed prototyping.