Ferdinand Stockmann

New York, New York, United States Contact Info
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Experience & Education

  • syrup.tech

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Publications

  • Hierarchical Robustness Approach for Nonprehensile Catching of Rigid Objects

    in IEEE International Conference on Intelligent Robots and Systems (IROS)

    Other authors

Courses

  • Entrepreneurial Business Creation for Engineers

    IEOR E4550

  • Graduate Research

    MECE E9000

  • Introduction to Control Theory

    EEME E6601

  • Introduction to Robotics

    MECE E4602

Projects

  • Baxter Robot Motion Planning Implementation

    This implementation was tested on a Baxter Research Robot from Rethink Robotics. The algorithm was able to find a path to any desired position, avoiding obstacles of different complexity. We implemented two different path finding algorithms: RRT (Rapidly exploring random tree) and PRM (Probabilistic Road Map). When using PRM, the shortest path from start to goal was found using Dijkstra’s algorithm. In both cases, after the path was found, we had to shortcut it if possible, and then resample…

    This implementation was tested on a Baxter Research Robot from Rethink Robotics. The algorithm was able to find a path to any desired position, avoiding obstacles of different complexity. We implemented two different path finding algorithms: RRT (Rapidly exploring random tree) and PRM (Probabilistic Road Map). When using PRM, the shortest path from start to goal was found using Dijkstra’s algorithm. In both cases, after the path was found, we had to shortcut it if possible, and then resample that path. The resampled path was the input to a trajectory execution function that computed joint velocities and accelerations using spline interpolation. Results were validated via simulation on the ROS RViz visualizer and then tested on the actual Baxter Robot. The whole algorithm was part of a bigger ROS framework provided by our professor.

    Other creators
  • Robustness to Uncertainty for robotic nonprehensile tasks - Bachelor Thesis

    -

    • Achieved planar robotic catching using a 3-link planar manipulator on a tilted air-hockey table
    • Implemented, simulated and experimentally verified a trajectory generator and a robust controller
    • Defended thesis to faculty and peers

Languages

  • English

    Native or bilingual proficiency

  • German

    Native or bilingual proficiency

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