Autonomous 6-DOF Vision-Based Grasping
Manipulation & CAD Engineer
An Omron TM5-700 robot that used perception, planning, and manipulation to autonomously move groceries into a refrigerator.
System
GroceryGizmo combined an Omron TM5-700, Robotiq gripper, wrist-mounted Intel RealSense camera, AR-tag perception, ROS 2, MoveIt2, coordinate transforms, and a GUI into one manipulation pipeline.
My role
I was the Manipulation & CAD Engineer. My work included the custom RealSense mount and manipulation testing, including grasp-offset calibration, safe approach sequences into the refrigerator, motion-stop safety conditions, soft-limit handling, and manual recovery procedures.
What it taught me
The hard part was not getting an arm to move. It was making the motion predictable around a real refrigerator, camera offsets, grasp alignment, collision constraints, and failure recovery.