Developed algorithm on motion and trajectory planning - project manager • Modeled robots, simulated self-collision and motion planning algorithm in Matlab • Responsible for developing kinematics, dynamics algorithm of redundant robot arms • Applied algorithm with C in control system, responsible for system testing and maintainingDeveloped computer vision program to grasp objects with uArm - project manager • Programmed to extract features and detect objects with opencv in ROS • Calculated location in base coordinate of uArm and controlled it to grasp objectsProgrammed ROS API and control architecture of uArm - project manager • Programmed urdf files, modeled robot arms and simulated motion in ROS • Designed control architecture so that users can control uArm in RViz and Moveit!