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Roadmap

Project goal

Build a torque controlled robotic arm capable of safely manipulating delicate objects for under $1000.

M0: Requirements and architecture

M1: Actuator test bench

Get encoder, current sensing, PWM, FOC, velocity control, and position control working.

  • [ ] Servo firmware
  • [ ] Buy parts
  • [ ] Add demo video to the README

M2: Robotic joint

  • [ ] Recruit mechanical engineer / find usable CAD online
  • [ ] Obtain AMP Lab funding
  • [ ] FreeRTOS

M3: Communication

  • [ ] Talk to STM32 with ROS 2 over UART for logging -- data saved to SQLite
  • [ ] ROS 2 topics over CAN

M4: 2-DOF arm

M5: 3-DOF arm

Arm and gripper that can pick up and place

  • [ ] Definitely need a mechanical engineer by this point

M6: Force aware manipulation

  • [ ] Load cell

M7: Perception and calibration

M8: Grape testing

  • [ ] Pick up a grape
  • [ ] Rotate a grape
  • [ ] Lift started skin edge
  • [ ] Peel the grape
  • [ ] Autonomous cut

M9: 6-DOF arm

Ideas

  • FPGA / custom PCB
  • Teach a neural network to peel the grape