Haptic User interface

Haptic User interface

14 degree of freedom controller used to command an ATLAS robot simulation for the DARPA Robotics challenge team: Team Steel.

LUMI

LUMI

Fashion Line utilizing LED and Neo-pixel strips to create a illuminating display. Carnegie Mellon University's Luna GALA 2014

RaveVambrace

RaveVambrace

Device used to pulse bright light at every pump of fist. Utilized Eagle CAD to design PCBs. Design Built, and fabricated prototype. Programed AVR. Device utilizes Attiny85, 28 super-bright cree leds, analog 3 axises accelerometer, two buttons to change settings. Gadgety mid-term project.

SoundWaves

SoundWaves

Wearable Wireless Instrument that transforms dance into rhythmic sounds.

Haptic Controllers

Haptic Controllers

In my research, I argued "High degree of freedom manipulators require a high degree of freedom controller." For the DARPA Robotics Challenge Team, Team Steel of CMU, I developed these haptic user interfaces to controller the ATLAS robot in the Gazebo Simulation. The haptic interfaces are kinematically similar to two Atlas's arm and hand, whatever you do to the controller you do to Atlas. The lazercut acrylic houses potentiometers, (12 for hand, 6 for arm), sending ROS messages to gazebo.

Dynamixel Pro Arm with Lightsaber

Dynamixel Pro Arm with Lightsaber

In my research, I was given a prototype Dynamixel Pro Arm made by the company Robotix. I was to runs test and give feedback on their the newest product's performance (Dynamixel Pro Servos). Instead of sticking to tradition inverse kinematic control of robotic manipulator, I interface arm with my haptic user controller for straight forward maneuverability and fine control. The video link shows some tests.

SkidBot

SkidBot

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