Julien Kindle

My greater projects

Autonomously served coffee

As a semester project for my master’s degree in Robotics, Systems and Control in 2019, I had the opportunity to work with Mobmi, a mobile manipulator robot of the Autonomous Systems Lab (ASL) at ETH Zurich. Mobmi is composed of two main components, a Clearpath Ridgeback Mobile Base Platform and an ABB Yumi. Ridgeback allows Mobmi to move freely in 2D space thanks to its omni-wheels. Yumi, which is mounted on-top of Ridgeback, has two arms with 7DoF each and a range of roughly 0.6m. The goal of my project was to adapt the software running on Mobmi to let it combine multiple tasks (like driving to a specific location, grasping objects etc.) in a simple manner.
The output has then been presented by combining all tasks necessary in order to serve a coffee fully autonomously.

This project allowed me to improve my skills in ROS. Especially, I was able to get familiar with 2D path planning concepts for finding collision-free paths in unknown environments as well as pre-recorded maps and 3D trajectory planning for grasping objects with orientation constraints using the MoveIt! motion planning framework. I will be using the newly learned knowledge in my autonomous R2D2 project.

I recorded the result of my work in a One Shot together with visualizations of what the robot sees:

Nächster in Artikel

Vorheriger in Artikel

I am Julien Kindle from the Principality of Liechtenstein and this is my collection of projects I've created. If you're interested in new projects and want to receive an email as soon as I publish a new one (T≈1 year), Subscribe HERE