Location: Search Based Planning Lab, RI, CMU

Walker is a full body mobile manipulator (or humanoid) developed by UBTech that consists of a 3-DoF mobile base and a 7-DoF arm. In this project, I co-wrote the software stack for the entire robot, comprising of planners (arm and base), state machines, controllers and perception modules enabling it to navigate indoors and fetch objects for the user. The capabilities of the robot were demonstrated to over 50 people as part of a continuous demo day in July 2019.

Videos : Clip 1 / Code : GitHub / Skills : Python, ROS, PCL