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Robotics

Define the robot model.

Define the control architecture of your system.

Explain how you would calibrate this system.

Create a physics-based simulation of your robot.

Approach:

Use Screw Theory for kinematic and dynamic model

For the control architecture

Pros/Cons of different control appraches (impedance, admittance, momentum based etc)

Establish adjacent layers of abstraction to understand integration impacts

List out software design choice impacts

Flesh out architecture

For Calibration

Identify what calibration values need to be determined

identiy “ground truth” assumptions we can make

Identify inter-depencies of calibration procedures

Select calibration order and method, merge and optimize where possible

Physics based simulation

Put together a basic URDF or borrow analogous one.

Import into Gazebo/Isaac

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