Autonomous Dynamic Stacking with Franka Panda
MEAM 5200 Introduction to Robotics 路 University of Pennsylvania 路 Fall 2024 路 馃弳 Course Winner
This project presents a complete robotic manipulation pipeline for a 7-DoF Franka Emika Panda arm performing dynamic pick-and-place. By integrating AprilTag-based vision, motion planning, and impedance control within a ROS鈥揋azebo framework, the system autonomously grasped and stacked both static and rotating dynamic cubes with high precision. Its consistent real-time performance in hardware trials earned 馃 1st place with a 馃弳 record 28,000 points (next best 8,500).
Demo Videos
Final challenge demo videos showing the autonomous pick-and-place system in action(Red & Blue Sides).
Project Images
Left to right: Me with the Franka Panda arm and completed block stack, receiving the course winner award, and celebrating with the team.