4-DOF real-time board-game-playing arm
Real-time 4-DOF arm that plays Gomoku, with a custom inverse kinematics solver and ROS1 MoveIt. Best project in MA4825.
- Role
- Control; led integration, team of 6
- Where
- Nanyang Technological University, MA4825
- When
- Aug 2021 – Dec 2021
- Stack
- Python, ROS1, MoveIt, OpenCV, Dynamixel
What I did
- Designed and fabricated a 4-DOF robotic arm as a team of 6 to play Gomoku autonomously with humans, using 3D printing, OpenCV, ROS, and Gomoku algorithms.
- Led integration of the arm and implemented motion planning and control with a custom inverse kinematics solver and ROS1 MoveIt in Python, using dynamixel_workbench.
Outcome
- Best project in MA4825, chosen by peers and professors.