Atlas Chef

The ME/EE/CS 133a course is the first in the core robotics sequence at Caltech focusing on kinematics and dynamics of robotic systems. For our final project, we evaluated the performance of the Boston Dynamics Atlas robot cutting with the right hand and reaching to grab an item on a neighboring shelf with the left. We approached this problem in two ways: First, we defined the cutting motion of the right arm as the primary task and the left hand as the secondary task. Second, we defined both the right and left hand tasks as primary tasks. We described our results including the tradeoffs between both approaches in our final report and video.

Links to project: Final Report, Github