Atlas vs. Floating Ball Simulation
Ama Agyeiwaa Obeng
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)
HighlightS
SKILLS
Robot Operating System (ROS)ROS Visualization (RViz)PythonHumanoid Robot ControlInverse KinematicsTask-Priority ControlDamped Jacobian Methods
External Links
Ama Agyeiwaa Obeng
Mechanical Engineering Senior at Caltech
Hi! I’m Ama, an undergraduate Mechanical Engineering student at Caltech graduating in June 2026.
My experience spans robotics, experimental research, and computational modeling, including humanoid robot control, microgravity thermophoresis experiments, and geotechnical earthquake engineering research, with work conducted across Caltech, NASA JPL, Rice University, and George Mason University. I’m particularly interested in applying mechanical engineering to environmentally beneficial and impact-driven projects.
Hi! I’m Ama, an undergraduate Mechanical Engineering student at Caltech graduating in June 2026.
My experience spans robotics, experimental research, and computational modeling, including humanoid robot control, microgravity thermophoresis experiments, and geotechnical earthquake engineering research, with work conducted across Caltech, NASA JPL, Rice University, and George Mason University. I’m particularly interested in applying mechanical engineering to environmentally beneficial and impact-driven projects.