Dominoes Building Robot
Through the Robot Operating System (ROS), we programmed the Franka Panda robot to pick up and place bricks to build a dominoes structure.
I focused on modelling the inverse kinematics of the robot. Starting from the desired pose of the gripper, to generating a desired path, to solving the kinematic redundancy and computing the joint angles for the robot. Resulting sets of joint angles that is published to the subscriber of the robot.
The demo can be seen in the following video:
The project video:
Details and documentation of the project can be found on my Github.