SCS Undergraduate Thesis Topics

Jonathan Coens Dave Touretzky The Tentacle Arm: Control of a High-DOF Planar Manipulator

Effective control of a high degree of freedom manipulator increases in computational complexity with the number of joints. A controller for a many-joint arm must include an inverse kinematics solver, a path planner, and a set of object manipulation strategies. I am developing these algorithms for a planar "tentacle" arm composed of eight Robotis Dynamixel AX-12 servos in series. The goal is to be able to manipulate objects in real-time. With the algorithms in place, I will demonstrate a variety of operations on objects of different sizes using an actual tentacle arm. The work will be incorporated into the Tekkotsu robot programming framework.

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