Robotics minor

ROS1, Mechatronics, SLAM, Controls, Python, C++

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Overview

While at LSU, I completed a minor in robotics engineering alongside my electrical engineering major. For this minor I took a number of robotics related classes covering a range of topics. Many of these classes were very hands on and I got a lot of useful project experience. Two of the courses that I found particularly useful were Intro to Robotics Engineering and Autonomous Robotic Vehicles

In Intro to Robotics Engineering we learned about a broad array of topics from mechanical design to software. We learned about robotic actuators and mobility mechanisms, robot motion control, navigation and mapping, and human-robot interaction. Particularly, we had many interesting projects involving the Parallax Activitybots, hexapods, and Turtlebots. Furthermore, the class focused heavily on learning ROS and had many labs, classes, and assignments dedicated to learning it.

Autonomous Robotic Vehicles covered topics like vehicle kinematics, motion control, perception, localization, path planning, and navigation. In the class we learned about and implemented different probabilistic methods like Particle Filter and Extended Kalman Filter (EKF) for navigation. As our final project of the class, we implemented an Extended Kalman Filter (EKF) SLAM using Python and ROS on a Turtlebot to navigate through a maze, map it, and localize itself.

Projects

  • Maze solving robot (leftmost gif): Programmed Parallax Activitybot in C++ to navigate through a maze, create a map of the maze, and save the quickest path to the end

  • Hexapod (middle gif): Explored different gaits and control to move the hexapod in particular ways, achieve turning motions, and climb stairs

  • Increasing Activitybot Payload (rightmost gif): Created an external chassis for the Activitybot and retrofitted its drivetrain with different gears to increase its torque capacity to push heavier objects

  • Extended Kalman Filter SLAM on Turtlebot: Implemented EKF SLAM using Python and ROS to navigate through a maze, map it, and localize itself

  • Golf Range Finder: Created a computer vision system that tells a user how far they are from a golf flag using just an image of the flag

  • Automated Cocktail Maker: Designed and created an automatic cocktail machine that can serve different drinks based off the glass inserted into it

Relevant Classes

  • Intro to Robotics Engineering
  • Autonomous Robotic Vehicles
  • Sensors and Actuators
  • Intro Computer Vision
  • Adjustable Speed Drives
  • Microprocessor Systems
  • Advanced Control System Design
  • Discrete Control System Design