Design and programming of an embedded micro-controller to run RL algorithms to control a robot
Avideh Zakhor, Professor
Electrical Engineering and Computer Science
Applications for Fall 2024 are closed for this project.
In this project, we will design a microcontroller system, e.g. ARM, or ESP32 to run RL algorithms to control a robot. First order business is to reverse engineer the existing mechanism of human operated RC controller which gives velocity and angle commands to the robot. This mechanism will be replaced with an RL algorithm (already designed) running on a microcontroller or microprocessor which then provides commands to motor controllers of the robot to move accordingly. The microcontroller needs to be interfaced with various sensors such as RGB-D camera and / or visual odometry sensors.
Role: * High level system and component design of the micro controller
* Interface the microcontroller with various sensors
* Reverse engineer the communication protocol between the RC and robot motor controllers
* Run the RL algorithms on the microcontroller to generate new commands to be sent to robot motor controllers.
Qualifications: Highly desirable skills:
* Past experience with electronic systems, and programming microcontrollers, and communication/networking protocols
* Past Experience with Motor controllers
* Past experience with interfacing sensors with microcontrollers.
* EECS149
*EECS 106A and/or EECS106B
* ME102B, ME135
Hours: 12 or more hours
Related website: https://www-video.eecs.berkeley.edu/publications.shtml#conference
Engineering, Design & Technologies