ME-CS-EE 133a Robotic Arm Simulation Project
James Muren
OVERVIEW
HighlightS
Involved writing and interfacing URDF files, defining custom forward and inverse kinematic algorithms, and creating secondary tasks to avoid self-collisions
Used advanced mathematical concepts such as SVD, Moore-Penrose Pseudoinverse, Weighted Jacobians, and Newton-Rhapson Method to calculate arm motion, handle singularities, and approximate error
SKILLS
James Muren
B.S Mechanical Engineering & Robotics
I am a mechanical engineering student at Caltech specializing in engineering design and robotic systems. My experience spans drone technology development, robotic arm design, and advanced manufacturing processes. I have contributed to cutting-edge research in morphing robotics, and developed complex kinematic algorithms for multi-DOF robotic systems. My technical expertise combines theoretical knowledge with hands-on prototyping and testing experience.
I am a mechanical engineering student at Caltech specializing in engineering design and robotic systems. My experience spans drone technology development, robotic arm design, and advanced manufacturing processes. I have contributed to cutting-edge research in morphing robotics, and developed complex kinematic algorithms for multi-DOF robotic systems. My technical expertise combines theoretical knowledge with hands-on prototyping and testing experience.