Autonomy Stack for robot movement and hose manipulation for vacuuming debris.
Avideh Zakhor, Professor
Electrical Engineering and Computer Science
Applications for Spring 2025 are closed for this project.
In this project, we will use inverse kinematics type ideas to teach a hose mounted on a robot to vacuum the immediate area in front of the robot. We will also design autonomy algorithms and methods for joint movement of robot and hose in order to vacuum a large area littered with undesirable objects such as debris or dirt. Also develop path planning algorithms to allow the robot to vacuum a cluttered area filled with obstacles. You will get a chance to test your algorithms on actual robots in a lab.
Role: * Read papers
* Invent algorithms
* Implement them on a robot equipped with perception and odometry sensors and also micro-controllers such as rasbery pi.
* Test the algorithms on our real robot (in our lab) to show that they work in real life.
Qualifications: * Must have taken EECS106
* Must have taken courses that teach inverse kinematics.
* highly desirable to have taken CS 180 and/or CS280
* Familiarity with ROS is a plus.
* Prior programming experience in C++ is highly desirable.
* Preference will be given to candidates who can continue the project over the summer.
* Prior robot/drone/hardware experience is a plus
* Prior 3D mechanical design experience is a plus.
Hours: 12 or more hours
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