E-puck2 Recycling Robot
A miniature recycling center robot built for the "Systèmes embarqués et robotique" class at EPFL.
This project was developed for the “Systèmes embarqués et robotique” (Embedded Systems and Robotics) class, taught by Professor Francesco Mondada at EPFL.
Built in collaboration with Alain Duchoud, the project consists of an e-puck2 robot programmed to act as an autonomous sorting machine for a miniature recycling center.
The software architecture relies heavily on a real-time operating system (ChibiOS) and is written in C. We implemented a Finite State Machine (FSM) to handle the main control loop and prioritize tasks seamlessly. To detect and categorize the miniature “waste” objects, we integrated a computer vision pipeline utilizing the robot’s onboard camera.
Project Video
You can see the robot in action in our demonstration video below: