ROS Calibration Stack Fall 2011
One of my other projects at Willow Garage was a generic port of the pr2_calibration
stack, making it easier for many robots to find their arms! The new
calibration stack has been used on robots ranging
from Maxwell, to PR2, to robots as part of the ROS-Industrial project.
ecto::pcl Summer 2011
While an intern at Willow Garage, I developed PCL bindings for
Ecto, a computer vision and perception
framework under development at that time. ecto::pcl allows you to easily connect up
high-performance 3D perception pipelines in just a few lines of Python.
rosserial Summer 2011
While an intern at Willow Garage, my first project was rosserial. rosserial is a C/C++
ROS client library for small microcontrollers, such as the Arduino. Check out rosserial on
github or the ROS
Armadillo Summer 2010
The Armadillo was a short-lived ArbotiX-based mobile manipulator. It's 10"x10" base would
eventually be increased to 16"x16" and re-used in the design of Maxwell. The ArbotiX-ROS interface
code eventually became the basis of the modern
ROS wrappers for the ArbotiX. While I never did get around to much manipulation, this platform
did produce a number
Nelson Spring 2010
Nelson was a prototype "social" robot I built while at the
University of Albany.
He consisted of 21 degrees of freedom. An 8-servo head allowed independent
control of eyebrows, lips, and eye yaw. The eyes had a coupled pitch servo as
well as a coupled eyelid servo. Two 4-servo arms afforded a range of gestures
and pointing. A 3-servo neck allowed several configurations of head gesturing,
as well as a wide pan and tilt range. Nelson's differential drive base allowed
him to navigate his environment.
Nelson was originally controlled using the Tekkotsu robotics package, but was
also then my first platform for ROS development. His construction and usage were
detailed in a 2011 SIGCSE paper.
Crater Spring 2009
This stupid little $118 robot is the prime example of why you should Keep It Simple Stupid.
Intended only to compete in the "low-cost award" category, Crater won the Non-Kit Senior Division
at the 2009 Trinity College Fire Fighting Home Robot Contest. This is typically the most competitive
league at the contest, but this slow robot was the only one to complete all 3 runs in 2009. He won
with an impressively high score of 189.708 seconds... there have been years with scores of under 1
second. I've posted code and
tutorials on Fire Fighting competition robots.