University of New Mexico | Jul. 2024 – Sep. 2025 | Albuquerque, NM
I worked as a Robotics Research Faculty Assistant for over a year. I focused on developing software written in ROS2 and micro-ROS to enable cooperative transportation between two mobile manipulators using real-time force feedback from force resistive sensors.
This is a video presentation of the project narrated by our advisor, Professor Matthew Fricke.
What I built
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Implemented an admittance controller for a PincherX-100 to compute trajectories based on applied forces on the end-effector. Ensured the arm followed smooth trajectories and had a response time above 100Hz.
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Developed and tuned PID controllers written in C/C++ for wheel control (DC motor) and multi-agent trajectory following, ensuring wheels had stable acceleration and robots independently followed trajectory paths.
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Designed a manipulator heading alignment algorithm using a Vicon system, enabling cooperative transportation over two-dimensional trajectories. This algorithm was tested and verified in a custom Gazebo simulation replicating the robot dynamics.
Technologies
C/C++, ROS2, micro-ROS, Gazebo, Arduino, Vicon Motion Tracker