Project Videos and Learning Materials

Presentation on Collaborative Robotics Spring 2021

Thesis Defense

This is the thesis presentation presented at the University of Washington.

This is the original defense on 2/15/19. There are audio issues between 6min-12min. These slides were presented here: https://youtu.be/jpoWyWECFsQ?t=468  between 8:00min-14:00min.

Projects:

• Estimating Human Intention for Human-Robot Cooperative Transport
  • Learning to predict human-leader intended pose on 1.5sec horizon
  • Fetch Mobile Manipulator: beginning to estimate human intention
• Precision Pouring from Unknown Containers leveraging system identification and model priors
• Precision Pouring from Unknown Containers with system identification (KUKA Innovation Award Finalist)
• Precise Autonomous Pouring Using Visual Feedback
• Optimal Navigation of Planar Robots in Cluttered Environments
• Scarab Leader Follower using Computer vision to track manually driven leader
• Ant Force Sensor (UPenn & ASU)
  • Side View
  • Top View

Learning Materials:

• A Python Introduction
• Summary of Quaternions
• Manipulator Jacobian Task Priority
• Example Sophomore Mechanical Engineering Lecture (Rocket lab)