ME 133b Final Project

My final project for 133b focused on programming a drone to perform complete mapping of a 3D space. We did this using a simulated LiDAR sensor that sent out a set number of rays with a maximum sensor distance, which then calculated the ideal path to completely map an unknown space.

Code: https://github.com/sofiakwok/ME133 

ME 133a Final Project 

Course description: The course develops the core concepts of robotics. The first quarter focuses on classical robotic manipulation, including topics in rigid body kinematics and dynamics. It develops planar and 3D kinematic formulations and algorithms for forward and inverse computations, Jacobians, and manipulability. The second quarter transitions to planning, navigation, and perception. Topics include configuration space, sample-based planners, A* and D* algorithms, to achieve collision-free motions. The third quarter discusses advanced material, for example grasping and dexterous manipulation using multi-fingered hands, or autonomous behaviors, or human-robot interactions. The lectures will review appropriate analytical techniques and may survey the current research literature. Course work will focus on an independent research project chosen by the student.