Demos

This section documents all implemented system demos. Each demo includes a short description of the behavior being demonstrated and a link where the corresponding demo video can be viewed.

Note: Must use a UC Berkeley account to view demo videos.

Arm Demo 1: Manual Command Angles

Description:
This demo showcases manual control of the 4-DOF arm by sending joint angle commands in a fixed chronological sequence. The demo was filmed prior to improving the gripper design.

Sequence:

  • Startup
  • Prepare for grab
  • Grab
  • Lift and hold
  • Sweep and return
  • Drop
  • Startup

Notes:

  • Filmed before improving grip

Demo Video:
Link to Arm Demo 1 – Manual Command Angles

Arm Demo 2: Pick and Place

Description:
This demo demonstrates an automated pick-and-place routine triggered by a single ROS message. The arm executes the full sequence without manual intervention.

Sequence:

  • Startup
  • Prepare for grab
  • Grab
  • Lift and hold
  • Return to grab
  • Release
  • Startup

Notes:

  • Fully automated arm sequence

Demo Video:
Link to Arm Demo 2 – Pick and Place

Arm Demo 3: TurtleBot Grab and Drop

Description:
This demo integrates the arm with the TurtleBot base. The system performs an automated grab and deposits the object into the onboard cup.

Sequence:

  • Startup
  • Prepare for grab
  • Grab
  • Lift and hold
  • Rotate to cup
  • Drop
  • Startup

Notes:

  • Automated flow from a single published message

Demo Video:
Link to Arm Demo 3 – TurtleBot Grab and Drop

Project Demo 1: Search and Retrieve

Description:
This demo highlights the full mobile manipulation pipeline, where the TurtleBot detects an ArUco tag, navigates to the cube, and retrieves it.

Automated Flow:

  • Detect AR Tag
  • Compute transform
  • Navigate to large AR tag
  • Trigger arm start (manual)
  • Collect block
  • Rotate and drop block into onboard cup
  • Return to start location

Notes:

  • Partial automation (manual arm trigger)

Demo Video:
Link to Project Demo 1 – Search and Retrieve

Project Demo 2: Search & Retrieve, Place & Store

Description:
This demo extends the search-and-retrieve task by handling multiple ArUco tags and sequential navigation goals.

Automated Flow:

  • Detect all AR tags
  • Compute distance to Tag 1
  • Navigate to Tag 1 at stop distance
  • Trigger arm
  • Collect block
  • Compute distance to Tag 2
  • Navigate to Tag 2 at stop distance
  • Trigger arm
  • Place block
  • Return block to TurtleBot holder

Notes:

  • Multi-goal navigation

Demo Video:
Link to Project Demo 2 – Search, Retrieve, Place & Store

Project Demo 3: Courier Task

Description:
This demo demonstrates a courier-style task in which the robot transports objects between multiple locations defined by ArUco tags.

Automated Flow:

  • Detect all AR tags
  • Trigger arm
  • Collect block
  • Compute distance to Tag 1
  • Navigate to Tag 1 at stop distance
  • Place block
  • Collect block
  • Compute distance to Tag 2
  • Navigate to Tag 2 at stop distance
  • Trigger arm
  • Place block
  • Return block to TurtleBot holder

Notes:

  • Fully sequential courier behavior

Demo Video:
Link to Project Demo 3 – Courier

Live Demo

Description:
Our live, in-person demonstration of the full robotic system presented during Fall 2025 EECS 106A Final Showcase.

Demo Video:
Link to Live Demo