Atlas Drums
Atlas playing drums and dancing.
This project explored generating arm trajectories for the Atlas humanoid to perform on a virtual drum set in RViz. We developed an algorithm that converts a sequence of desired drum strikes into time-aligned trajectories for Atlas’ arms, ensuring each strike lands on the correct drum at the correct moment. As a secondary objective, we implemented a coordinated “dance” motion to accompany the performance. The project incorporated several concepts from Caltech’s ME 133A: Robotics course, and culminated with Atlas playing along to “Outstanding” by The Gap Band.