Using Rethink Robotic’s Sawyer robot to automate a mock ultrasonagraphy procedure. Implementation included: computer vision with marker tracking, positional control with joint velocities, and force controls with joint velocities.
This was a project for Berkeley’s EE106A/2006A, completed in a group of three students. I was responsible for programming the path-planning and controls aspect of the project, as well as general debugging. You can find our full project description, implementation, videos, and conclusions here. Github repository found here