Combat Casualty Extraction
I worked for a few months on a government subcontract to show proof of concept for semi-autonomous casualty extraction using an autonomous mobile manipulator. Below are some pictures that relate to the work I did. I was responsible for researching which 3D sensor to select and implementing the sensor in hardware as well as writing the perception software. We were able to use our previously written open source code that was originally for the playpen project. I also designed the end-effector for the task and supported Visual Odometry and Mecanum control code that I had previously written. Click on each image below to get more detail in the caption.
I have continued to consult on this project with the current Masters student who is working in collaboration with Hstar Technologies (see here).