Dexterous Robotics Solution

Timeline: 32 Weeks

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Over the course of 2 semesters as my Senior Capstone project, my team worked with Eaton Manufacturing and Sarcomere Dynamics to create an autonomous manufacturing workcell that incorporated a Collaborative Robot (COBOT) and humanoid hand. My main responsibilities on this team were as follows:

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1. Write a pipeline to send information between a haptic glove, the robotic hand, and a computer running the controller to replicate the user’s hand motion on the robotic hand while sending haptic feedback to the user

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2. Rewrite and Optimize the inverse kinematics algorithm for finger positioning for more accurate hand response with a quicker response time.

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3. Develop a digital twin simulation in ROS2 to simulate the motion control of the COBOT and hand system.