Box Stacking in PyBullet

Impedance controllers for two manipulators to perform box stacking

Python NumPy SciPy Matplotlib PyBullet

Box Stacking

114514

  • Description
    • Developed a robotic manipulation pipeline for a 7-DOF Franka Emika Panda robotic arm in PyBullet to autonomously execute multi-stage pick-and-place tasks}
    • Formulated a hybrid Jacobian controller by fusing World-Frame linear components with Body-Frame angular dynamics, enforcing a strict downward-facing end-effector constraint to eliminate undesired joint configurations}
    • Implemented a Cartesian impedance controller with gravity compensation, utilizing quintic spline interpolation for jerk-free trajectory generation and numerical optimization for inverse kinematics}

Box Stacking and Reordering

114514

  • Description
    • Implemented forward and inverse kinematics for a 3-DOF robot finger with NumPy and SciPy; generated trajectory in joint-space with linear time interpolation for smooth motion
    • Designed and tuned an impedance controller operating in end-effector space to perform reaching, grasping, and lifting under collaboration
    • Collected and analyzed various simulation data to evaluate and validate controller performances, documented methods and results in interactive notebooks