Overview
A unified simulation and control framework for unconventional modular robotic systems.
The work focused on enabling flexible manipulator configurations through dynamic model generation and hardware integration.
System Capabilities
- Custom URDF generation pipeline
- Modular kinematic chain construction
- Real-time control framework
- MoveIt integration for arbitrary manipulator configurations
- Deployment on physical hardware (custom manipulator + UR10)
Engineering Focus
- Abstraction of kinematic configuration
- Reusable robot modeling infrastructure
- Hardware-software alignment
- Clean interface between planning and execution layers
Outcome
A scalable architecture for modular robotics research and rapid manipulator prototyping.
Working with a custom or unconventional robot configuration?
Off-the-shelf control frameworks are built for standard manipulators. If you are working with a custom kinematic chain, modular hardware, or a non-standard morphology — and need planning, control, and simulation to actually work across configurations — this project was about exactly that problem.
We build control architecture that works across robot configurations, not just the ones that come with a pre-built package.
Tell us about your projectOr email kodorobotics@gmail.com