Shoulder Cannon
3-DOF robotic turret that tracks and mirrors a user's head orientation in real time using an IMU headset and inverse kinematics.
A 3-DOF robotic turret that tracks and follows line-of-sight of a user wearing a headset. Built at the Adaptive Robotic Manipulation Lab under Dr. Frank Hammond at Georgia Tech.
I selected and integrated the sensors, generated a kinematic model for the 3-DOF mechanism, and implemented inverse kinematics to map headset orientation to joint angles in real time. The headset uses a Bosch BMI160 IMU to measure roll, pitch, and yaw, which are transmitted and processed with Kalmann Filtering on the turret controller running on an MSP432 (ARM Cortex-M4). Three hobby servos execute the computed joint angles to mirror the user’s head movement.
Hardware: MSP432 (ARM M4 MCU), Hobby Servos, Bosch BMI160 IMU
Software: Code Composer Studio