Ringo-walks

Ringo-walks is a collaborative robotics project developed during my Ph.D. at Politecnico di Milano, built alongside my colleague Tommaso Scudeletti. The project focuses on deploying robust locomotion control for a walking robot platform utilizing a modern Robot Operating System (ROS) architecture.

My Contribution: Low-Level Control & Estimation

While developing complex robotic systems requires a strong collaborative effort, my primary focus on this project centered around the low-level control and state estimation pipelines within the ROS framework.

Key aspects of my work included:

• State Estimation: Implementing sensor fusion and estimation algorithms to accurately determine the robot’s pose, velocity, and orientation in real-time.
• Low-Level Control Architecture: Developing the control loops that interface directly with the robot’s hardware. This involved bridging the gap between high-level trajectory planning and the actual motor commands required to execute those movements smoothly.
• ROS Integration: Structuring the control and estimation nodes within the ROS ecosystem, ensuring real-time performance and efficient message passing between the hardware interfaces and the higher-level logic.