6-DOF Robot Arm

Ongoing Project

Python C++ Gravity Compensation Impedance Control Drag-Teach MuJoCo

A custom 6-DOF robot arm built with a friend. I built all of the software — planning, control, and low-level drivers; hardware design and fabrication by my collaborator Collaborator GitHub. Currently in active development.

Software I've written for this arm:

  • Gravity compensation
  • Drag-teach mode
  • Torque-based and position-based control
  • Impedance control
  • Auto-calibration protocols
  • System identification View Project

Videos