Tanmay Nilkanth Deshmkh

Ginger: Object grabbing

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I designed the mechanical parts in AutoCAD and 3D printed them. The goal was to develop a method of object grabbing with one camera. This robot perceives depth using the ultrasonic sensor mounted directly above the webcam. The approximate location of the target object in 3D space is calculated using head orientation and the depth calculated using the ultrasonic sensor. A set of transformations is applied to calculate joint angles required to reach the object. A visual marker on the end effector and an IR sensor array located at the wrist aids the robot in positioning its gripper with the object.