team name

EECS 106A Final Project Report

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Autonomous TurtleBot system for detecting, navigating to, and collecting wooden cubes using ArUco-based perception and a custom 4-DOF gripper.

Overview

This project presents an end-to-end mobile manipulation system in which a TurtleBot autonomously detects wooden cubes in its environment, plans and executes navigation toward them, and performs pickup and drop-off using a custom-built gripper.

System Pipeline

  • Perception: RealSense RGB camera + ArUco tags for robust cube localization
  • Planning & Control: TF-based navigation to a tuned stopping distance
  • Actuation: Arduino-controlled 4-DOF gripper for grasping and deposit

Results

  • Reliable detection and pose estimation of cubes
  • Approach and stop by cube detected via ArUco tags
  • Successful pickup and placement into onboard basket

Team

Andrea • Annabelle • Aneri • Arun

📄 Use the navigation bar above to explore our system design, implementation details, and conclusions.