• 🛠️: Building things in Robotics, Industrial IoT and Precision Machining.
• 💻: Utlizing GitHub to be an efficent Engineering Problem Solver by leveraging source codes.

Inverse Kinematic solver in python to control the Franka Panda Arm for block stacking tasks. The camera detects the block pose using April Tags.

The team developed an AMR using an ESP32-S2 Wrover microprocessor controlling a two-wheel differential drive system with TT motors. The robot can perform neutral steering and demonstrate adaptive behaviors like auto-reverse when stuck. This has been achieved through IR-retroreflective sensors, the robot is powered by a dual power source (power bank for ESP32, 9V batteries for motors) with completely soldered circuits for robustness. The robot performed excellently across all tasks: achieving smooth wall following with seamless obstacle avoidance.

Python implementation for homography. Projecting Penn Engineering logo on Barcelona cup match goal net. References: Nayar, S. "Computing Homography | Image Stitching," YouTube, Mar 2, 2021. [Video file]. Available: https://www.youtube.com/watch?v=l_qjO4cM74o. [Accessed: Sept 5, 2023]. Hartley, R. I. and Zisserman, A. (2004). Multiple View Geometry in Computer Vision (Second edition). Cambridge University Press. ISBN: 0521540518.

Python implementation of P3P and PnP algorithms for pose estimation and augmented reality task using april tags. References: E. Olson, "AprilTag: A robust and flexible visual fiducial system," 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, 2011, pp. 3400-3407, doi: 10.1109/ICRA.2011.5979561. R. M. Haralick, C.-N. Lee, K. Ottenberg, and M. Nolle, "Review and Analysis of Solutions of the Three Point Perspective Pose Estimation Problem," International Journal of Computer Vision, vol. 13, no. 3, pp. 331-356, 1994. V. Lepetit, F. Moreno-Noguer, and P. Fua, "EPnP: An Accurate O(n) Solution to the PnP Problem," International Journal of Computer Vision, vol. 81, no. 2, pp. 155-166, 2009.

Credit: Aryagm