Personal Robotics Lab

I worked with Professor Sidd Srinivasa on the HERB Robot Butler.

Fig. 1: The Robotics Institute's Home Exploring Robot Butler, better known as HERB, was featured in Oreo's "Cookie vs. Creme" campaign. HERB, a two-armed, mobile robot, twists an Oreo apart and scrapes off what it terms "the precious crème" in the video, the fourth and final "Oreo Separator" machine in the online series.

 
 
Fig. 2: HERB on National Geographic

Fig. 2: HERB on National Geographic

Perception

Created models with Autodesk CAD to be used for 3D pose estimation

Hierarchical Task Planning

Helped implement hierarchical task planning algorithms in Python, C++

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