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Atlas vs. Floating Ball Simulation
Project Timeline
Nov 2025 - Dec-2025
OVERVIEW
Collaborated in a team of three to program a 30-DOF humanoid robot, Atlas, in ROS and RViz to detect and reach a ball placed randomly in its workspace while minimizing vertical lift-off of its feet.
Course: Robotics (ME133A)
SKILLS
Robot Operating System (ROS)ROS Visualization (RViz)PythonHumanoid Robot ControlInverse KinematicsTask-Priority ControlDamped Jacobian Methods
SUPPORTING MATERIALS
lowinertia
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