CS225A Final Project: Robusser - Dish Washing Robot

See CS225A Final Project Report - Robusser.pdf and Final Presentation.pptx for a more detailed description of the project implementation.

Project Overview

Robot Task: Dish Washing
Motivation: Assistive Care
Given a table containing dishes in a room, the robot will:
- Navigate the room
- Pick up the used dishes and cups
- Rinse them in the sink
- Put them in the dishwasher
- Return to the charging state
Robot Design:
- Single moving base with one 7-DoF arm attached for picking up arbitrarily positioned objects
- Arm positioned such that it can reach both the table top and dishwasher down below

Robusser.-.CS225A.Final.Project.Video.mp4

Simply clone this repository in the directory corresponding to the cs225a repository:

cd cs225a
git clone https://github.com/abhyudit309/robusser.git
cd robusser

Name		Name	Last commit message	Last commit date
Latest commit History 48 Commits
CMakeFiles		CMakeFiles
components		components
robusser		robusser
CMakeCache.txt		CMakeCache.txt
CMakeLists.txt		CMakeLists.txt
CS225A Final Project Report - Robusser.pdf		CS225A Final Project Report - Robusser.pdf
Final Presentation.pptx		Final Presentation.pptx
Makefile		Makefile
README.md		README.md
cmake_install.cmake		cmake_install.cmake
controller.cpp		controller.cpp
dishwasher_controller.cpp		dishwasher_controller.cpp
dishwasher_robot.urdf		dishwasher_robot.urdf
eef_controller.cpp		eef_controller.cpp
eef_mobile_base_controller.cpp		eef_mobile_base_controller.cpp
mmp_panda.urdf		mmp_panda.urdf
mobile_base_controller.cpp		mobile_base_controller.cpp
redis_keys.h		redis_keys.h
robusser_robot.urdf		robusser_robot.urdf
simviz.cpp		simviz.cpp
world_mmp_panda.urdf		world_mmp_panda.urdf
world_robusser.urdf		world_robusser.urdf