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Innovative Robotics Solutions

spot boston dynamics robot dog

Hi! I'm Esther, just a Robotics Engineer who loves to build robots. For the past few years, I've been creating cool projects that push the tech boundaries. My portfolio show some of my favourite projects, including Space Robotics arm, Fixed Wing Plane, and Exoskeleton. I hope you enjoy checking out my projects as much as I enjoyed making them!

Projects

I've worked on the development of the In-Orbit Servicing and Manufacturing (IOSM) lab in England. This was a huge but fun project to work on, involving everything from KUKA operations, simulation, and synchronisation, with ROS integration, to object tracking with VICON. Plus, I got to do some serious client testing, helping startups to multinational clients in the space sector to validate their new space technologies. It felt like being a part of a real-life sci-fi adventure!

Bringing Robotics to Space

Multi-Tool for Robotics arm

Most robots are designed for a single task, but we aimed to change that with a multi-tooling standard interface. I worked on the software architecture, software development on Raspberry Pi, remote user interface GUI, assembly, and testing. We equipped a UR10 robot with the multi-tooling system, allowing it to detach and switch tools. It featured a camera for satellite inspection (as shown in the video) and a gripper as developed tool for satellite servicing, making it a flexible solution for various space applications. This multi-tool capability is crucial for space missions, where minimising weight is essential.

Autonomous Navigation and Object Detection

Working on Spot with an Arm from Boston Dynamics was an incredible experience! My main focus was developing ROS controls for the arm, which has been integrated into the original Clearpath GitHub repository for the arm Spot Manipulation. Utilising the onboard RGB-D cameras and object detection in ROS, Spot could identify an object (in the video, the object was another robot), estimate its position, and walk towards it. I also developed pick & place tasks where Spot recognise an object, such as a bottle, approach it, and pick it up.

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Autonomous Fixed Wing Plane

As part of a team, I designed and developed and Unmanned Aerial Vehicle. My contributions focused on the software and systems, vision detection, and assembly and testing. Our team's efforts resulted in the success of the IMechE UAS Challenge 2021.

Pick & Place with ROS Object Detection

One of my projects involved developing real-time manipulation capabilities with the Panda Franka Emika robotic arm. I used MoveIt, ROS, Rviz, and 3D object detection to achieve this. By integrating an RGB-D camera with object detection and ROS controls, the robotic arm could accurately identify, approach, and manipulate objets in real-time.

Exoskeleton for nurses

For my Master's thesis, I developed a conceptual exoskeleton designed to support nurses in reducing muscoloskeletal injuries caused by carrying and moving patients. My work included a comprehensive literature review, comparative analysis of different exoskeletons, and the creation of the CAD models shown here. This research was published in the journal Sensors:

A Review of Exoskeletons Considering Nurses (PMID: 36146385).

exoskeleton for nurses

Latest Work

Planning to develop some personal fun robotics project, which I hope to share soon.

I am currently working on developping new robotics tech for the space sector as the Chief Robotics Officer at Lodestar Space, startup in London. It feels like being a part of a real-life sci-fi adventure! 

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