Persona: Low Cost Robotic Platform
Persona is a mobile telepresence robot that allows for manipulation of a remote environment. Persona is capable of manipulating small objects as well as lifting and transporting loads up to 4.5 kg.
I designed a simple user interface that allows for tele-operated control of persona using a USB gaming controller. Each button switched between driving the robot and manipulating the arm.
I designed the embedded software architecture for Persona, including a light weight serial communication protocol to communicate to Persona via XBee wireless radios. Additionally I helped implement a PD controller for control of the holonomic base.
C++, MATLAB, PID Controls