For UC Berkeley’s ME 102B senior design project, I completed the following project regarding cooperative lifting called Project Olly. The full final report can be found here. My role included creating the MPC controllers and part of the robot software.

The following video includes some hardware demos. The Blue and Gold rimmed robot is controlled with an Xbox controller, and the other is controlled with an MPC controller to balance and maintain the load. The video runs at twice the record rate.