My caption 😄

Panda robot

As part of being a Graduate Teaching Assistant for the course Robotics 2 at Imperial College London, I set up the Panda Franka Emika robot from scratch. This involved:

  • installing a real-time Ubuntu kernel and set up the software libraries, in particular libfranka and franka_ros
  • calibrating and tweaking the arm to follow smooth trajectories in any possible state of the robot (so that the robot “never” terminates, whatever weird thing the user might do (simple, right? good joke, I know))
  • coding a Python to C++ interface to control the robot through Python, integrated with ROS

Using this interface, the students built amazing applications in their term projects, for example playing chess with the Panda! Check this out:

Credit to Ben Greenberg

Some further resources: