Autonomous Pick-and-Place Robot System with Multi-Floor Navigation (Husky + UR3)

Overview

I developed an autonomous multi-floor pick-and-place robot system combining a Clearpath Husky mobile base and a UR3 manipulator. The system focuses on reliable multi-floor navigation and accurate button press actions using hybrid mapping and perception. :contentReference[oaicite:14]{index=14}

What I Did

Multi-floor autonomy (navigation + task execution)
- Developed a multi-floor pick-and-place system using Husky + UR3. :contentReference[oaicite:15]{index=15}
Reliable interaction for real environments
- Applied:
  - Hybrid maps
  - AI vision
  - AR markers
- Goal:
  - safe navigation
  - accurate button pressing (e.g., elevator panels / door buttons) :contentReference[oaicite:16]{index=16}

Publication

This project is associated with a journal submission (under revision). :contentReference[oaicite:17]{index=17}

Development of Autonomous Pick-and-Place Robot System with Multi-Floor Navigation
Journal of Korea Robotics Society (Under revision) :contentReference[oaicite:18]{index=18}

My Role

System integration (navigation + perception + manipulation)
Implemented robust button-press pipeline using hybrid map + visual/marker cues :contentReference[oaicite:19]{index=19}

Tech Stack

Mobile Robotics: Husky navigation stack (multi-floor)
Manipulation: UR3 pick-and-place + button pressing
Perception: AI vision + AR marker cues
Mapping: hybrid map strategy for reliability :contentReference[oaicite:20]{index=20}