Snake
Messing around making a snake game when I couldn’t sleep
W.AMCA 24 Gallery
Images from the Workshop on Additive Manufacturing and Construction Automation 2024
Light painting
Light painting with a Fanuc CR10ia/L and Python
For a recent conference, I wanted to quickly demonstrate some robot control from CAD to robot although we’ve not yet integrated an end-effector. So we came upon the idea of light painting!
Whispers from a summer nest - Milano 2024
Room g02a robot control guide
Room g02a robot control guide
S. Wilcock 2023
Be Curious 2022
Public engagement event
As part of the University of Leeds’ annual public engagement event Be Curious, we formed a team of PGRs to bring a hands-on robotics experience to families in the Leeds area. The focus was on robot sensing and human robot collaboration - as part of this, we used a couple of Turtlebots as a demo of some SLAM techniques, and I took on the programming of a PincherX robot arm which was mounted on a table.
Leeds International Summer School 2022 - Digital design and fabrication
Leeds International Summer School Course
We’re running an in-person Summer module as part of the Leeds International Summer School. The module will be delivered over a 2 week period, covering topics including
- History of shell structures
- Parametric design with Grasshopper
- Shell structure form finding techniques and algorithms
- Tesselation and planarisation for panelling
- Connection systems
- Design for digital fabrication
Playing with Particle Swarm Optimisation
Quick study of PSO for a few test functions
I kept seeing PSO being used in papers to minimise paths for manipulators, so I wrote a quick toy script to test it out. Here’s the results with a Sphere function:
PSO with 5 particles acting on a sphere function landscape.
Creating a Reachability Map
Experimenting with producing graphs of reachability mappings
Following the procedure of (Zacharias et. al, 2007: Capturing robot workspace structure: representing robot capabilities), I have been studying the use of reachability mappings of manipulator workspaces. Using inverse kinematic (IK) solvers for a kinematic chain specific to an available manipulator setup, a number of orientations about positions on a discretised grid can be tested to be reachable. A scoring is then assigned to each position by the percentage of orientations that are achievable at that voxel location.