posts

2018

Home Service Robot

1 minute read

Published:

Program a home service robot that can autonomously map an environment and navigate to pickup and deliver objects.

IIWA Kinematics

2 minute read

Published:

Given a list of end-effector poses, calculate joint angles using Inverse Kinematics for the KUKA LBR IIWA R820

Lane Detection

5 minute read

Published:

Build a pipeline using distortion correction, image rectification, color transforms, and gradient thresholding to identify lane lines and their curvature.

2017

Behavioral cloning

5 minute read

Published:

Train a deep neural network to drive a car on winding road autonoumosly.

Perception Pick & Place

10 minute read

Published:

Given a cluttered tabletop scenario, perform object segmentation on 3D point cloud data using python-pcl to leverage the power of the Point Cloud Library, then identify target objects from a “Pick-List” in a particular order, pick up those objects and place them in corresponding drop boxes.